Cooperative Trajectory Planning for Multi-UCAV Performing Air-to-Ground Target Attack Missions

Abstract

The problem of planning flight trajectories is studied for multiple unmanned combat aerial vehicles (UCAVs) performing a cooperated air-to-ground target attack (CA/GTA) mission. Several constraints including individual and cooperative constraints are modeled, and an objective function is constructed. Then, the cooperative trajectory planning problem is formulated as a cooperative trajectory optimal control problem (CTP-OCP). Moreover, in order to handle the temporal constraints, a notion of the virtual time based strategy is introduced. Afterwards, a planning algorithm based on the differential flatness theory and B-spline curves is developed to solve the CTP-OCP. Finally, the proposed approach is demonstrated using a typical CA/GTA mission scenario, and the simulation results show that the proposed approach is feasible and effective.

A Virtual Motion Camouflage Approach for Cooperative Trajectory Planning of Multiple UCAVs

“…However, the method to achieve the trajectory planning for a single vehicle or cooperative multivehicle required a high computational load. To reduce the computational complexity, the inverse dynamics methods [15,16] and differential flatness theory (DFT) based methods [17][18][19][20] are introduced. Compared to pseudospectral methods, these methods can use any models and any performance indexes and transform the OCP into a low dimensional NLP problem.…”