Multi-loitering Units Cooperative Path Planning And Operational Simulation Experiment

In the actual battlefield conditions,because of the complexity and diversity of the mission,multi-loitering units cooperative combat is an important trend for the future combat.Path planning is one of the critical techniques of mission planning.As a key technology,multi-loitering units cooperative path planning can generate feasible paths for loitering units subject to terminal time constraints,flight performance constraints,threat constraints,and inter-flight collision avoidance constraints to enhance the overall combat effectiveness of loitering units.Focusing on multi-loitering units cooperative path planning,the main contents are summarized as follow.(1)The research status,some key technologies,the advantages as well as the current problems of multi-loitering units cooperative path planning method are investigated.(2)In the complex battlefield situation,loitering units are modeled as a point-mass model.The seekers are analyzed and modeled in detail.Then,comprehensive analysis the threat factor in the process of executing the mission,including radar threat,antiaircraft gun threat,anti-aircraft missile threat and terrain constraints.Moreover,the properties of moving targets in search areas are study and the move modes of targets are established.(3)The comparative study on path planning method based on sparse A*(SAS),particle swarm optimization(PSO),and genetic algorithm(GA)are conducted for the loitering units cooperative penetration path planning problem firstly.Considering the effectiveness and optimality,sparse A* method is chosen for off-line path planning study.Secondly,a sparse A* dynamic path planning method based on dimension reduction concept is proposed.On this basis,the translation extension strategy is introduced into the dynamic path planning method,thus yield a novel algorithm to solve the cooperative penetration path planning problem.The validity of the dynamic path planning method and the cooperative penetration path planning method are proved by several simulation tests.(4)For rectangle areas cooperative searching path planning problem,line searching method and spiral searching method are compared,and serial searching method and pattern searching method are analyzed particularly.Considering the cooperative searching efficiency and the operational costs,the cooperative raster pattern searching method is used to search targets.The relationship between the number of loitering units and the search efficiency is analyzed by simulation experiment to provide reference on the number of loitering units in the process of operation.(5)For the specific battlefield situation and operational mission,loitering units use cooperative penetration path planning and cooperative search path planning to execute some vital tasks.According to off-line path planning results,loitering units penetrate the hazardous areas until arriving at the target areas.Then,loitering units search the areas for targets by the off-line search path planning results.Once the target are found by one loitering unit,others carry out on-line planning to track and attack the target.Finally,the simulation experiment results of different operation modes show that the proposed path planning methods can calculate reasonable results effectively and rapidly.