考虑避碰与任务分配的多飞行器协同制导技术

Cluster coordinated attack can improve the overall combat effectiveness of aircraft, but the internal collision of cluster will cause self loss and reduce the overall combat effectiveness. Aiming at the collision problem caused by unreasonable target allocation in the process of cluster cooperative attack, based on the scene of cooperative attack on moving targets, a mathematical model of multi aircraft collision problem is established, and the law of cluster cooperative movement in distributed architecture is revealed. Further considering the safety area constraints of the aircraft, based on the target assignment method of the shortest total path, the target evaluation rule considering space-time collision avoidance is introduced. A task allocation method that gives consideration to collision avoidance and cooperative effect is proposed, which is combined with reactive collision avoidance strategy to greatly improve the safety of cluster cooperative flight. The simulation results show that the proposed task allocation method considering space-time collision avoidance constraints can effectively reduce the collision probability, ensure the cooperative strike effect and flight safety, and has strong engineering application value.