多目标时空同步协同攻击无人机任务分配与轨迹优化

A task allocation and trajectory optimization algorithm for multi-target attack is proposed for the coordinated attack task of distributed UAVs attacking multiple targets in a complex battlefield environment. The typical multi-target strike mission scenarios and UAV models are established. A search map with no-fly zones as nodes is constructed based on Delaunay triangle theory. A^* algorithm is used to achieve the least threatening single-aircraft path search. In terms of UAV dynamics constraints and minimum energy loss, the time adjustment factor is introduced and the distributed UAV time-space synchronization trajectory optimization method based on Bezier curve is adopted to obtain the optimized trajectory for simultaneous attack on multiple targets. A trajectory tracking controller was designed for simulation track of pre-planned trajectory. The simulated results show that the proposed multi-target attack task allocation and trajectory optimization method can achieve multi-angle, time-space synchronization, and distributed coordinated attack on multiple targets, and it has strong robustness against interference such as noise and wind gusts.