Research On Cooperative Task Allocation And Path Planning Method Of UCAV Air-to-ground Attacking

The Air-to-Ground attack is becoming domain force in the modern war, and UCAV is the main executor of the future air combat. The partial SEAD(Suppression of Enemy Air Defenses) tactical UCAV Air to Ground attack involves situation assessment, collaborative task allocation and penetration path planning, this Paper makes researches on this three key technology.Aiming at the characteristics of the partial SEAD tactical, the situation assessment method is studied in this paper. Based on Dynamic Bayesian network, an incoming target identification model is established, and Based on Fuzzy Bayesian network, a model of double level suppression target screening evaluation model is established, the first level model can effectively determine the target attack value, and the second level model can be used to determine the target of the partial SEAD task.Aiming at the problem of existing task allocation modeling methods are not sensitive to the dynamic between the task process, a modeling method based on iterative optimization is proposed this paper, this method takes the correlation between tasks owned different attack timing into consideration. A discrete shuffled frog leaping algorithm is proposed; by improve the local updating strategy, make shuffled frog leaping algorithm can adapt to the task allocation this kind of complex discrete combinatorial optimization problem.A bi-level multi UCAV 3D penetration path planning method is proposed, this method is consist of 2D path planning method based on DTWA* algorithm and height planning method based on proposed particle sedimentation method. Moreover, a path re-planning method based on large-step A* and dynamic time warping path is proposed to solve the problem of online path re-planning. Simulation results show that, the bi-level route planning method can effectively utilize the low altitude penetration strategy, which is creasing the safety of penetration, And the re-planning method strong real-time performance, which can adapt to the situation of sudden environmental change.Using B/S model, UCAV air to ground attack decision support system is developed. This system is consisting of Bayesian network estimation and path planning two function modules, users can quickly created decision model in the system, and the decision simulation can be easily carried out.