Multi-aircraft Cooperative Route Planning

With the development of information technology,aircraft is playing its role to a greater and greater extent.In recent years,develop a reasonable route for aircraft in the terrain of complex battlefield has attracted more attention.The aircraft in flight mission need to avoid radar detection,realize the low altitude penetration,plan an optimal route according to the terrain changes,which plays a key role in the intelligent battlefield.Based on the flight route planning of complex terrain,we have researched three modules with modified A star algorithm gradually including single two-dimensional route planning of the aircraft,single 3 d route planning of the aircraft,and coordinated route.Also,the algorithm was verified by simulation experiment.The major innovative research results obtained are as follows:1.In the respect of route planning for aircraft in cruising stage,the route planning is studied by using the traditional algorithms of A star.The A star algorithm has been then improved aiming at the proposed defect based on adaptive grid map method.Finally,simulation experiments proved that the improved algorithm has advantage on the search speed and occupy less memory.2.In the respect of route planning for low-altitude penetration missions,route planning space and constraint model is established firstly,considering the menaces of the terrain,radar,weather combining with the performance of aircraft to improve A star algorithm.Besides,weight coefficient was introduced to choose different weights according to different task requirements.The results of simulation experiments show that this algorithm can realize 3 d route planning under multiple constraints,and can adapt to the needs of different tasks.3.For task-based multi-machine cooperative route planning,this thesis proposes three collaborative modes based on the actual task requirements,and proposes corresponding coordinated strategies in each mode.In the formation maintenance mode,the state of avant-garde aircraft was set as collaborative variable and the speed was adjusted on the bend to ensure the formation keeping.In time collaboration mode,aircrafts departed from different starts was planned to arrive the target point at the same time by introducing time coordinated strategy,collision regulation strategy and speed regulation strategy.A star algorithm was proposed with time constraints on the basis of coordinated formation in task cooperation.Also,a cost was added in the cost function related to time and the flight could adjust speed in real time by comparing the scheduled arrival time and arrival time to determine priority extension node.Finally,the simulation experiment shows that this method can be used to make aircraft fleet arrival destination points within specified time.The strategy was proved by the simulation experiments in several scenes and the results show that the proposed method is feasible in the actual project.