Research On Route Planning And Formation Control Method For Multi Aircraft Cooperative

Multi-aircraft cooperative task planning is one of the important contents for research of the world now, especially in the military field. Multi Aircraft Cooperative Path Planning and Formation Control are important parts of it. The technology which include some of optimization, decision making and intelligent computing are used to give full play to advantages of multi aircraft cooperative task execution. And then the total efficacy of multi aircraft cooperative task execution was better than total mission effectiveness of each aircraft task execution. The above two sections mainly been studied in this paper, and the work was carried out in the following:1. Voronoi diagram and Dijkstra search algorithm have been analyzed and studied for path planning problem. First, the Voronoi diagram of the battlefield threats has been constructed based on the location of the threat point in the battlefield. The collection of the path has been obtained. The line of the collection has been amended to meet the flight constraints. The empowerment directed graph of starting point, destination point and threats has been established. And then, Dijkstra search algorithm has been applied to search the route which was the minimum value of all the threats and distance. Namely:the best possible flight path. The above method has been used to find the path which was closer to the actual aircraft flight path.2. K optimization algorithm has been analyzed and studied and made improvements. According to the empowerment directed graph, Dijkstra search algorithm has been use to establish path between all nodes in the tree. The library of aircraft flight path has been constructed combining the starting point and destination point. K of flight path has been obtained. The path library of multi aircraft cooperative path planning has been established to facilitate selection between the aircraft coordination flight path.3. Optimal control theory and the "Navigator-with Air idea" have been used to design the controller of multi-aircraft cooperative formation control. According to the principle of bionics, common formation flying of aircraft has been designed. And formations flying dynamic adjustment methods have been studied.4. Finally, numerical simulation has been performed. Simulation results showed that:The optimal flight path which didn’t need to be optimized for secondary has been accurately obtained by the method described above. K optimal algorithm that it was improved has been used to find the optimal pre-K of the flight path. Those optimal pre-K paths could be select when multi-aircraft formation cooperative flight. Aircraft Formation controller which has been designed using optimal control theory could achieve fast and stable adjustment and maintain control when the formation of cooperative mission was flying.