Research On The Key Technologies Of Coordinated Operations For Loitering Aerial Vehicles

Performing cooperative tasks of multiple loitering aerial vehicle(LAV)has increasingly become the trend of the modern combat.Through sharing information,the LAV cooperates with each other to achieve coordinated operations in swarms,and formes a situation of saturated attack on many types of targets,causing a great damage effect.In this paper,an enemy military based on whose information is unknown is used as a background,we summarized the characteristics of the multi-LAVs,and built a coordinated distributed combat system for LAV swarms.Meanwhile,we researched on the coordinated search,targets assignment,and guidance law of LAV swarms,and the main work is summarized as follows:Firstly,aiming at the situation that the regional information is unknown,a coordinated search algorithm of the LAV based on the improved ant colony algorithm was proposed.The algorithm uses the pheromone feedback mechanism in the ant colony theory to control the autonomous collaborative search of the LAV.The simulation results verified the feasibility and efficiency of the proposed algorithm.Secondly,aiming at the coordinated of targets assignment in LAV swarms,the traditional contract net protocol theory was improved,eliminating the task bidding process and avoiding the pressure caused by the bidding process according to the characteristics of LAV swarms.In addition,we changed the global optimal target allocation of the traditional contract network protocol into the local optimal target allocation.The feasibility of the target allocation algorithm in this paper was verified by simulation.Finally,on the issue of cooperative guidance of multi-LAVs,a guidance law based on receding horizon control was proposed for the maneuvering targets,and the problem of multiconstraints maneuvering target guidance was transformed into the problem of a continuous linear moving target guidance based on receding horizon;According to the velocity vector triangle,the relationship between the angle of view and the pitch angle of sight of the LAV was obtained,the proportional guidance law based on the attitude angle constraint was further designed to study the flight characteristics;the sliding-mode variable structure control guidance law was proposed to solve the coordinated guidance problem of multi-LAVs based on time constraints.The above guidance laws verify the feasibility through numerical simulation.