Research On Trajectory Planning And Effectiveness Evaluation For Multi-UAV Cooperative

With the continuous development of science and technology, modern warfareenvironment is increasingly complex, relying solely on a single UAV will not beable to complete the task, multi-UAV cooperative operations will be a major battlemodel in the future war.UAV trajectory planning is the core of the UAV mission planning system. Thepresent trajectory planning is more concerned about the single UAV and trajectoryplanning for multiple UAVs cooperative is in its infancy. In response to theseproblems,the thesis is just to be dedicated to the research of cooperative trajectoryplanning for multiple UAVs under the background of multi-coordinated attack thesame target,and evaluate the operational effectiveness of different cooperativetrajector plannings for multiple UAVs.Firstly,introduces the major problems of trajectory planning of UAV andsummarize the method. Focus on the genetic algorithm and the probabilistic mapalgorithm for trajectory planning, Matlab simulation results prove the effectivenessof the proposed algorithm, and the two algorithms are compared and analyzed, it isbeing as the foundation of the multi-UAV trajectory planning in the following text.Secondly, the system architecture of trajectory planning for the multi-UAVcooperative was constructed. Trajectory planning for the multi-UAV cooperative isdivided into path planning layer, collaborative control layer and path control layerthree layers.In Path planning layer planning the path set for each UAV of theformation and the result of planning output to the collaborative controllayer.Collaborative control layer in terms of cooperative time and cooperativecost select the optimal path, finally through the path control layer smooth theplanned path.The Matlab simulation result demonstrates the path planningalgorithm is effective and through the path planning layers of layered solutionstrategy is very good solve the sudden under threat of online muti-aircraft pathplanning problem.Finally,in response to the present situation that the trajector planning basedsolely on the cost function as criteria,proposes a new method that evaluate the operational efficiency to further evaluate the trajector planning. According to theindex selection principles and the characteristics of formation cooperativecombat,applies the analytic hierarchy process (ahp) to establish the effectivenessevaluation index system for multiple UAVs cooperative combat,combined with theestablishment using gray analytical hierarchy to evaluate the effectiveness of thetwo typical trajector scheme of multiple UAVs,evaluation results show theestablishment of the evaluation index system is reasonable and the method thatevaluate the operational efficiency to evaluate the trajector planning is feasible.