Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach

摘要

This paper investigates the cooperative trajectory planning for multiple unmanned combat aerial vehicles in performing autonomous cooperative air-to-ground target attack missions. Firstly, the collision-free cooperative trajectory planning problem for time-critical missions is formulated as a cooperative trajectory optimal control problem (CTP-OCP), which is based on an approximate allowable attack region model, several constraints model, and a multi-criteria objective function. Next, a planning algorithm based on the differential flatness, B-spline curves and nonlinear programming is designed to solve the CTP-OCP. In particular, the notion of the virtual time is introduced to deal with the temporal constraints. Finally, the proposed approach is validated by two typical scenarios and the simulation results show the feasibility and effectiveness of the proposed planning approach. Defence Science Journal, Vol. 64, No. 1, January 2014, DOI:10.14429/dsj.64.2999