Real-Time Path Planning Based on the Situation Space of UCAVs in a Dynamic Environment

摘要

This paper aims to find a reliable, collision-free path in a dynamic environment for highly maneuverable unmanned combat air vehicles (UCAVs). Given the real-time nature of the operational scenario, quick and adaptable reactions of UCAVs are necessary for updates in situational awareness. Therefore, we propose a three dimensional (3D) path planning approach based on the situational space to provide the tactical requirements of UCAVs for tracking targets and avoiding collisions. First, to ensure reliable nonlinear measurements, the interacting multiple model (IMM) algorithm based on a cubature Kalman filter (CKF) is chosen for the tracking and prediction algorithm. A constraint reference frame combining the kinematic model of constant acceleration (CA) is developed to solve the problem of arrival point generation. Second, by analyzing the relative motion between the UCAV and the moving objects, we define the situation space and give the corresponding calculation method. In tracking the moving target, the guidance vector contains the fusion information of displacement and velocity. At the same time, taking advantage of the one-step situation space as the judgment of the threat, we further plan the collision avoidance strategy. Third, as the safety in a practically reachable trajectory of the UCAV possesses the absolute priority, the collision avoidance acceleration accounts for this dominant factor in path planning. Simulations and experimental results prove that the proposed approach can plan a smooth and flyable path in 0.008 s under the premise of soft-landing target tracking.