Cooperative Trajectory Planning for Multi-UCAV Performing Air-to-Ground Target Attack Missions

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【标题】Cooperative Trajectory Planning for Multi-UCAV Performing Air-to-Ground Target Attack Missions

【作者】 Xueqiang Gu  Yu Zhang  Shaofei Chen  Jing Chen 

【出版日期】2013-03-01

【摘要】The problem of planning flight trajectories is studied for multiple unmanned combat aerial vehicles(UCAVs)performing a cooperated air-to-ground target attack(CA/GTA)mission.Several constraints including individual and cooperative constraints are modeled,and an objective function is constructed.Then,the cooperative trajectory planning problem is formulated as a cooperative trajectory optimal control problem(CTP-OCP).Moreover,in order to handle the temporal constraints,a notion of the virtual time based strategy is introduced.Afterwards,a planning algorithm based on the differential flatness theory and B-spline curves is developed to solve the CTP-OCP.Finally,the proposed approach is demonstrated using a typical CA/GTA mission scenario,and the simulation results show that the proposed approach is feasible and effective.

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