时间约束下对地面目标协同攻击任务规划方法

To address the problem that inconsistent strike time during coordinated attacks on ground targets by swarm munitions may lead to task failure, a swarm task planning method based on a bilevel optimization model is proposed. Lower level optimisation for path planning and upper level optimisation for task assignment improve the optimality of the task planning results. Considering the real battlefield environment, the long flight time of munitions increases the risk of detection by the opponent. Therefore, the introduction of the velocity variable into the path planning allows the swarm munitions to complete a coordinated attack task that satisfies the time constraint, without adding redundant paths. Finally, a swarm munitions coordinated attack on ground targets experiment is designed, simulated and tested to verify the effectiveness of the proposed method.