基于PH曲线的多无人飞行器协同航迹规划研究

摘要

随着无人飞行器智能化的发展,如何使其在动态环境下避开运动威胁,并能协同以规定的时间和角度进行攻击,从而顺利完成作战任务成为研究热点.基于Pythagorean Hodograph(PH)曲线进行在线航迹规划,提出了分布估计算法和差分进化算法相结合的方法进行航迹参数寻优,并给出了在线避障多无人飞行器协同航迹规划方法,仿真试验结果表明加入速度预测的多无人飞行器协同航迹规划方法的有效性.%With the development of UAV,how to avoid the moving threat for the UAV under the dynamic environment and cooperate complete the mission at the specified time and angle becomes a spot problem.Using the PH curve the trajectory is planned on-line.The estimation of distribution algorithm and the differential evolution algorithm are combined to optimize the trajectory parameters.The on-line obstacle avoidance method and the cooperation planning method are given.Simulation results show the validity of the multiple intelligent missile cooperate path planning method with prediction of the velocity.