运动规划
会合
路径(计算)
计算机科学
控制理论(社会学)
数学优化
平滑的
约束(计算机辅助设计)
任意角度路径规划
控制(管理)
工程类
人工智能
数学
航空航天工程
机器人
航天器
计算机视觉
机械工程
程序设计语言
作者
Lei Hu,Guoxing Yi,Nan Yi,Hao Wang
出处
期刊:Chinese Journal of Systems Engineering and Electronics
[Institute of Electrical and Electronics Engineers]
日期:2023-10-01
卷期号:34 (5): 1191-1210
标识
DOI:10.23919/jsee.2023.000119
摘要
Aiming at the suppression of enemy air defense (SEAD) task under the complex and complicated combat scenario, the spatiotemporal cooperative path planning methods are studied in this paper. The major research contents include optimal path points generation, path smoothing and cooperative rendezvous. In the path points generation part, the path points availability testing algorithm and the path segments availability testing algorithm are designed, on this foundation, the swarm intelligence-based path point generation algorithm is utilized to generate the optimal path. In the path smoothing part, taking terminal attack angle constraint and maneuverability constraint into consideration, the Dubins curve is introduced to smooth the path segments. In cooperative rendezvous part, we take estimated time of arrival requirement constraint and flight speed range constraint into consideration, the speed control strategy and flight path control strategy are introduced, further, the decoupling scheme of the circling maneuver and detouring maneuver is designed, in this case, the maneuver ways, maneuver point, maneuver times, maneuver path and flight speed are determined. Finally, the simulation experiments are conducted and the acquired results reveal that the time-space cooperation of multiple unmanned aeriel vehicles (UAVs) is effectively realized, in this way, the combat situation suppression against the enemy can be realized in SEAD scenarios.
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