Multi-uavs To Attack Multiple Objectives In Collaboration With The Route Planning Algorithm

With the progress of aviation science&technology and the requirement of air combat, multi-targets attack and coordination for multiple unmanned air vehicles (UAV for short) become the trend of development. Targets assignment and trajectory generation strategy pose significant technical challenges. This paper presents a way using target type as the main property to evaluate threat degree, and using Hungarian algorithm to solve the targets assignment problem. For the coordination constraint of UAVs arriving at the targets simultaneously, this paper proposes a decomposition strategy that allows optimization to be decentralized among UAVs. Through adjusting coordination variable ETA (estimated team arrival time), coordination agent selects paths and feasible velocities among each UAV initial optimal and suboptimal paths, such that timing constraint is satisfied. And then, according to Minimum Principle, each UAV smoothes its own path which the coordination agent selects such that the dynamic constraints are satisfied and the length is preserved. At last, for general bomb using continuously computed release point (CCRP), this paper calculates the ballistic trajectory based on polar coordinates.Simulation results demonstrating the feasibility of the approach are presented.