无人作战飞机自主攻击三维实时轨迹规划研究

以无人作战飞机挂载激光制导**打击地面目标为研究背景，针对空对地**投放过程的多约束和强实时性要求，提出自主攻击轨迹规划系统总体框架，建立了激光制导**可发射区模型;在此基础上结合UCAV动力学约束，提出了一种基于改进A*算法的三维攻击轨迹决策算法。算法结合规划轨迹最优性约束和UCAV平台的运动学约束，选择扩展节点，从而降低了算法的复杂度; 结合微积分的思想，取步长足够小，将步长范围内高度变化忽略不计，将UCAV水平方向和垂直方向飞行航迹独立解耦，并结合法向过载进行高度修正，从而有效避免了维数灾难问题。仿真结果表明，该算法能快速获得三维航迹，引导UCAV到达目标可发射区，且UCAV终端状态满足**发射条件,为构建无人作战飞机自主攻击平台奠定了良好的基础。

Abstract

The issue of unmanned combat air vehicles (UCAV) to attack ground targets with laser guidance missile was studied. Considering the multiple constraints and high real-time requirement in air-to-ground weapon delivery trajectory planningwe proposed a general framework of autonomous attack trajectory planning systemestablished the Acceptable Launching Area (LAR) model for the missileand proposed a strategy to generate 3D weapon delivery trajectories based on an improved A-star algorithm. This algorithm combined the optimal constraints and UCAV motion constraints to find the appropriate successor nodewhich can greatly decrease the complexity of the algorithm. We chose an appropriate step to eliminate height change within each stepwhich helped to separate horizontal plane and the vertical plane of the trajectoryand then revised the vertical trajectory height based on normal acceleration. Simulation results prove that this strategy can quickly generate a 3D weapon delivery trajectory which can lead the vehicle to the target LAR and satisfy the constraints for launching a missile.

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刘鹤鸣, 黄长强, 董志, 李佑军, 赖志平. 无人作战飞机自主攻击三维实时轨迹规划研究[J]. 电光与控制, 2013, 20(6): 34. LIU Heming, HUANG Changqiang, DONG Zhi, LI Youjun, LAI Zhiping. Three Dimensional Trajectory Planning Under Multiple Constraints for UCAVs in Autonomous Attacking[J]. Electronics Optics & Control, 2013, 20(6): 34.

无人作战飞机自主攻击三维实时轨迹规划研究

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