一种多机协同打击的快速航迹规划方法

针对多架自杀式无人机对重要目标进行协同打击的问题，在飞行器运动学、飞行器碰撞、时空协同等约束条件下，提出了一种空间分层分布的协同打击策略，在满足飞行器碰撞约束的前提下，有效提高了对重要目标防御系统的抵抗能力与飞行器自身的生存率。在此基础上，进一步提出了一种空间协同的多机打击快速航迹规划方法，结合Dubins曲线，将飞行器数目增加带来的计算量指数增长的问题，转化为多项式乘积形式的计算量，实时生成满足时空协同要求的次优航迹。通过仿真实验与实际飞行试验验证了所提方法的有效性，无人机可以在生成航迹的引导下，有效到达打击目标。 

A rapid path planning method for multiple UAVs to cooperative strike

Focusing on the cooperative strike problem to important with multiple suicide UAVs, a cooperative striking strategy based on hierarchical space distribution is proposed. The strategy is proposed with the vehicle kinematic constraint, the collision constraint of UAVs, and the space-time cooperative constraint. With the proposed strategy, the collision constraint can be solved. What's more, with the strategy, the resistibility of the UAVs to the recovery system of the target can be improved, and the chance of survival can be increased. A rapid path planning method for multiple UAVs with space cooperative requirements is proposed. The Dubins curve is combined in the method, and the exponential increment of computation with the number of UAVs is transformed intoa polynomial form. The real-time requirement can be satisfied with the method, and sub-optimal trajectories can be generated. Simulation and flight experiments are carried out, and the results show that the UAVs can be guided to the target with the generated paths effectively, and the effectiveness of the proposed method is verified.