Research On Mission Assignment And Flight Path Planning Of Manned/Unmanned Aerial Vehicles Cooperative Operations

Due to its low cost,great convenience and high maneuverability,Unmanned Aerial Vehicles(UAV)are able to perform complex and dangerous tasks in the place of Manned Aerial Vehicles(MAV)and thus have gained wide military popularity.The cooperative operation of multiple UAVs can significantly improve the combat effectiveness and can complete tasks that cannot be accomplished by a single one.However,limited by the insufficient intelligence and autonomy,multiple UAVs could hardly realize autonomous cooperative operations,which leads most countries still prioritize the development of manned/unmanned cooperative operations.Therefore,this paper has carried out related research on M/UAV mission planning systems.The main work is as follows:In all,this paper divides the mission planning system of M/UAV into two main aspects of mission assignment and flight path planning.And on analyzing and comparing the advantages and disadvantages of three typical modes of cooperative control of M/UAV —completely concentrated distributive mode,limitedly concentrated distributive mode and centerless distributive mode,this paper chooses limitedly concentrated distributive mode as a foundation to study these two aspects.First,the study of the mission assignment of M/UAV includes a focus on limitedly concentrated distributive mode.According to this mode,this paper: 1.constructs a 3D digital elevation model equivalent to the battle space displaying both terrain threats and ground threats;2.constructs an objective function for assignment in which the pilot is included in deciding target priority;3.presents a method to build a 3D estimated range rather close to real battlefield by using terrain following method based on section;4.utilizes Contract Net Protocol(CNP)to enable MAV to supervise and authorize the assignment as host tenderee.The simulation result shows the feasibility of this assignment.Second,the study of the flight path planning of UAV is also based on(limitedly concentrated distributive mode).This paper divides flight path planning into basic planning and on-line replanning.Based on genetic algorithm,a method of global optimization,this paper introduces UAV dynamic model into mutation operators and thus constructs basic flight path planning because of its low requirement for real time.But on-line planning features a high requirement for real time,so this paper divides on-line replanning into 2D flight path planning and height planning.Compared to direct 3D planning,this on-line replanning narrows down the searching space.The simulation result verifies the effectiveness of this planning method.In conclusion,together with MATLAB GUI,this research result can be applied to the development of mission planning auxiliary decision-making system of M/UAV to provide support for MAV pilots and commanders,to fully use war resources and to achieve better combat effectiveness.