考虑避碰与任务分配的多飞行器协同制导技术

doi:10.12305/j.issn.1001-506X.2023.09.27

摘要/Abstract

摘要：

集群协同打击可以提升飞行器整体作战效能, 然而集群内部碰撞会引起自损, 降低整体作战效能。针对集群协同打击过程目标分配不合理导致的碰撞问题, 基于协同打击移动目标的场景, 建立了多飞行器碰撞问题的数学模型, 揭示了分布式架构集群协同运动的规律。进一步, 考虑飞行器的安全区域约束, 基于总路径最短的目标分配方法, 引入考虑时空避碰的目标评价规则, 提出了兼顾避碰与协同效果的任务分配方法, 并与反应式避碰策略相结合, 极大地提高了集群协同飞行的安全性。仿真结果表明, 研究提出的考虑时空避碰约束的任务分配方法能够有效减小碰撞概率, 在保证协同打击效果的同时确保飞行安全, 具有较强的工程应用价值。

关键词: 无人飞行器, 避碰约束, 协同制导, 任务分配

Abstract:

Cluster coordinated attack can improve the overall combat effectiveness of aircraft, but the internal collision of cluster will cause self loss and reduce the overall combat effectiveness. Aiming at the collision problem caused by unreasonable target allocation in the process of cluster cooperative attack, based on the scene of cooperative attack on moving targets, a mathematical model of multi aircraft collision problem is established, and the law of cluster cooperative movement in distributed architecture is revealed. Further considering the safety area constraints of the aircraft, based on the target assignment method of the shortest total path, the target evaluation rule considering space-time collision avoidance is introduced. A task allocation method that gives consideration to collision avoidance and cooperative effect is proposed, which is combined with reactive collision avoidance strategy to greatly improve the safety of cluster cooperative flight. The simulation results show that the proposed task allocation method considering space-time collision avoidance constraints can effectively reduce the collision probability, ensure the cooperative strike effect and flight safety, and has strong engineering application value.

Key words: unmanned aerial vehicle, collision avoidance constraint, cooperative guidance, task allocation

中图分类号:

V249

郑多, 韩煜, 鲁天宇, 初治辰. 考虑避碰与任务分配的多飞行器协同制导技术[J]. 系统工程与电子技术, 2023, 45(9): 2873-2883.

Duo ZHENG, Yu HAN, Tianyu LU, Zhichen CHU. Multi aircraft cooperative guidance technology considering collision avoidance constraint task allocation[J]. Systems Engineering and Electronics, 2023, 45(9): 2873-2883.

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UAV id	UAV位置/m	目标id	目标位置/m	UAV id	UAV位置/m	目标id	目标位置/m
UAV₁	[812, 534]	T₁	[6 660, 900]	UAV₁₉	[597, 374]	T₁₉	[7 699, 1 020]
UAV₂	[1 287, 1 641]	T₂	[6 868, 780]	UAV₂₀	[626, 319]	T₂₀	[7 699, 1 260]
UAV₃	[507, 1 416]	T₃	[6 868, 1 020]	UAV₂₁	[1 591, 270]	T₂₁	[7 699, 1 500]
UAV₄	[248, 1 606]	T₄	[7 076, 660]	UAV₂₂	[1 674, 818]	T₂₂	[7 907, 180]
UAV₅	[249, 1 159]	T₅	[7 076, 900]	UAV₂₃	[85, 716]	T₂₃	[7 907, 420]
UAV₆	[659, 1 552]	T₆	[7 076, 1 140]	UAV₂₄	[1 325, 1 530]	T₂₄	[7 907, 660]
UAV₇	[907, 981]	T₇	[7 284, 540]	UAV₂₅	[981, 1 335]	T₂₅	[7 907, 900]
UAV₈	[1 579, 736]	T₈	[7 284, 780]	UAV₂₆	[1 609, 199]	T₂₆	[7 907, 1 140]
UAV₉	[809, 1 834]	T₉	[7 284, 1 020]	UAV₂₇	[547, 183]	T₂₇	[7 907, 1 380]
UAV₁₀	[76, 1 851]	T₁₀	[7 284, 1 260]	UAV₂₈	[352, 1 396]	T₂₈	[7 907, 1 620]
UAV₁₁	[341, 1 301]	T₁₁	[7 491, 420]	UAV₂₉	[1 048, 227]	T₂₉	[8 115, 60]
UAV₁₂	[1 056, 1 315]	T₁₂	[7 491, 660]	UAV₃₀	[1 661, 1 541]	T₃₀	[8 115, 300]
UAV₁₃	[650, 1 217]	T₁₃	[7 491, 900]	UAV₃₁	[515, 1 079]	T₃₁	[8 115, 540]
UAV₁₄	[1 460, 135]	T₁₄	[7 491, 1 140]	UAV₃₂	[1 773, 1 388]	T₃₂	[8 115, 780]
UAV₁₅	[151, 1 855]	T₁₅	[7 491, 1 380]	UAV₃₃	[1 510, 880]	T₃₃	[8 115, 1 020]
UAV₁₆	[1 172, 516]	T₁₆	[7 699, 300]	UAV₃₄	[847, 1 109]	T₃₄	[8 115, 1 260]
UAV₁₇	[726, 320]	T₁₇	[7 699, 540]	UAV₃₅	[907, 1 264]	T₃₅	[8 115, 1 500]
UAV₁₈	[483, 564]	T₁₈	[7 699, 780]	UAV₃₆	[856, 752]	T₃₆	[8 115, 1 740]

UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id
UAV₁	T₁₂	UAV₇	T₂₅	UAV₁₃	T₉	UAV₁₉	T₇	UAV₂₅	T₁₄	UAV₃₁	T₅
UAV₂	T₃₅	UAV₈	T₂₄	UAV₁₄	T₂₉	UAV₂₀	T₁₁	UAV₂₆	T₂₂	UAV₃₂	T₂₆
UAV₃	T₁₀	UAV₉	T₂₈	UAV₁₅	T₃₆	UAV₂₁	T₂₃	UAV₂₇	T₁₆	UAV₃₃	T₁₈
UAV₄	T₁₅	UAV₁₀	T₂₁	UAV₁₆	T₃₁	UAV₂₂	T₃₂	UAV₂₈	T₆	UAV₃₄	T₁₃
UAV₅	T₁	UAV₁₁	T₃	UAV₁₇	T₁₇	UAV₂₃	T₂	UAV₂₉	T₃₀	UAV₃₅	T₁₉
UAV₆	T₂₇	UAV₁₂	T₃₃	UAV₁₈	T₄	UAV₂₄	T₂₀	UAV₃₀	T₃₄	UAV₃₆	T₈

UAV id	UAV位置/m	目标id	目标位置/m	UAV id	UAV位置/m	目标id	目标位置/m
UAV₁	[980, 1 265]	T₁	[6 860, 833]	UAV₁₉	[437, 896]	T₁₉	[6 944, 1 300]
UAV₂	[979, 1 398]	T₂	[7 848, 1 586]	UAV₂₀	[1 238, 747]	T₂₀	[6 650, 1 227]
UAV₃	[940, 1 889]	T₃	[7 922, 673]	UAV₂₁	[1 325, 810]	T₂₁	[7 690, 1 414]
UAV₄	[394, 290]	T₄	[7 461, 262]	UAV₂₂	[1 230, 1 367]	T₂₂	[8 171, 1 144]
UAV₅	[197, 214]	T₅	[6 701, 345]	UAV₂₃	[796, 135]	T₂₃	[6 531, 318]
UAV₆	[728, 907]	T₆	[7 722, 991]	UAV₂₄	[596, 864]	T₂₄	[8 053, 972]
UAV₇	[658, 1 474]	T₇	[6 841, 991]	UAV₂₅	[486, 455]	T₂₅	[8 021, 477]
UAV₈	[1 130, 1 490]	T₈	[6 766, 199]	UAV₂₆	[1 479, 874]	T₂₆	[7 494, 1 234]
UAV₉	[1 679, 1 851]	T₉	[8 031, 1 109]	UAV₂₇	[1 598, 804]	T₂₇	[6 558, 1 206]
UAV₁₀	[346, 350]	T₁₀	[8 173, 1 354]	UAV₂₈	[1 455, 1 459]	T₂₈	[7 152, 189]
UAV₁₁	[1 253, 269]	T₁₁	[7 549, 1 568]	UAV₂₉	[679, 489]	T₂₉	[7 381, 447]
UAV₁₂	[946, 1 055]	T₁₂	[8 082, 1 880]	UAV₃₀	[1 423, 1 809]	T₃₀	[6 722, 470]
UAV₁₃	[1 550, 973]	T₁₃	[6 501, 1 658]	UAV₃₁	[590, 1 308]	T₃₁	[7 007, 1 069]
UAV₁₄	[708, 1 309]	T₁₄	[7 603, 1 882]	UAV₃₂	[790, 1 600]	T₃₂	[7 464, 901]
UAV₁₅	[1 334, 1 036]	T₁₅	[7 450, 963]	UAV₃₃	[1 384, 401]	T₃₃	[6 723, 983]
UAV₁₆	[626, 370]	T₁₆	[7 942, 510]	UAV₃₄	[1 552, 1 882]	T₃₄	[8 035, 1 673]
UAV₁₇	[1 055, 572]	T₁₇	[7 397, 1 722]	UAV₃₅	[926, 1 692]	T₃₅	[6 987, 475]
UAV₁₈	[80, 1 459]	T₁₈	[7 830, 1 155]	UAV₃₆	[1 058, 379]	T₃₆	[7 251, 471]

UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id	UAV id	目标id
UAV₁	T₂₂	UAV₇	T₂₁	UAV₁₃	T₆	UAV₁₉	T₃₃	UAV₂₅	T₃₀	UAV₃₁	T₂₇
UAV₂	T₂₀	UAV₈	T₂	UAV₁₄	T₁₈	UAV₂₀	T₃	UAV₂₆	T₂₄	UAV₃₂	T₁₁
UAV₃	T₁₄	UAV₉	T₁₇	UAV₁₅	T₉	UAV₂₁	T₁	UAV₂₇	T₃₂	UAV₃₃	T₂₅
UAV₄	T₂₃	UAV₁₀	T₅	UAV₁₆	T₃₅	UAV₂₂	T₂₆	UAV₂₈	T₁₀	UAV₃₄	T₁₂
UAV₅	T₈	UAV₁₁	T₄	UAV₁₇	T₁₆	UAV₂₃	T₂₈	UAV₂₉	T₃₆	UAV₃₅	T₁₃
UAV₆	T₇	UAV₁₂	T₃₁	UAV₁₈	T₁₉	UAV₂₄	T₁₅	UAV₃₀	T₃₄	UAV₃₆	T₂₉

情况分类		编队移动目标数量			随机起始位置移动目标数量
情况分类		N=10	N=21	N=36	N=10	N=21	N=36
只有避碰过程	无碰撞概率/%	79.9	27.7	8.2	64.1	12.2	1.9
	机间最短距离均值/m	39.0	20.3	14.6	28.0	10.9	8.7
	冲突时刻概率P/%	43.0	68.4	91.3	49.2	73.8	87.2
避碰+任务分配	无碰撞概率/%	99.8	98.1	76.5	99.9	98.5	75.6
	机间最短距离均值/m	87.0	76.6	46.0	85.3	73.1	47.5
	冲突时刻概率P/%	0.4	0.9	6.5	0.1	0.7	5.0