Research On Detecting Method Of Space-time Conflict In Multiple UCAVs Cooperative Combat Missions

Recently, the researches on Unmanned Combat Aerial Vehicles (UCAVs) have been highly regarded and have achieved a prominent development all around the world. The operational environment of the battlefield has being more diverse and missions become more and more complicated. Since the operational efficiency of single UCAV is extremely limited, it needs a UCAVs team cooperating with each other to complete the mission. As one of the most important parts of the researches on cooperative operation, the space-time conflict detection of the multiple UCAVs cooperative combat mission is of significant importance to ensure the successful accomplishment of the mission. Thorough analysis work on the space-time conflict has been carried out in the thesis, and the conflict detecting methods were investigated.Above all, a multiple UCAVs cooperative combat mission description model was established. The main content and the general form of the multiple UCAVs cooperative combat mission plan were presented, the stage characteristics of the air-to-ground strike mission scenario were analyzed and a mission description model based on flight activities was established. The various constraint relationships between multiple UCAVs cooperative combat missions was analyzed, and was divided into logic constraints, temporal constraints and resource constraints.Secondly, a kind of airspace conflict detecting method was proposed based on airspace planning model. The problem of airspace conflict detecting was divided into two parts of pretreatment and the airspace conflict detecting algorithm. Based on Reich model, the airspace occupancy model (AOM) and the probabilistic UCAVs encounter model (PUEM) were improved. The airspace conflict detecting algorithm was realized and simulations of the detecting algorithm were carried out. The simulation results show that the algorithm could detect the airspace conflict of different levels efficiently.Finally, a kind of temporal constraint conflict detecting method for mission plan was proposed based on Temporal Planning Networks (TPN). Qualitative and quantitative temporal constraint of the mission were described according to the expression way of the temporal constraint networks (TCN), and the temporal planning networks (TPN) model was improved by adding executing conditions of the flight activities. The conflict between temporal constraints of the improved TPN model was divided into direct temporal constraint conflicts and state constraint conflicts. Triangle Constraint Satisfaction Problem (Triangle CSP) algorithm is designed to detect the temporal constraint consistency. Based on Triangle CSP temporal constraint conflict detecting algorithm is proposed. Taking a mission scenario of air-to-ground strike as input, simulations for the algorithm were carried out. The simulation results prove that the algorithm could detect the temporal constraint conflict of multiple UCAVs cooperative combat missions efficiently.