基于冲突触发避碰机制的无人飞行器集群协同制导技术

Cooperative strike is an important mode to improve the overall combat effectiveness of aircraft clusters. To address the problem of mutual collision or interference in the process of cooperative attack on targets by dense aircraft clusters, a typical mission scenario model of multi-target cooperative attack is established, and the maneuver law in the process of cooperative movement of aircraft cluster is revealed. Then, based on the optimal theory of utility function, the coordinated optimal maneuver strategy of aircraft cluster to avoid collision is studied, ensuring collision avoidance between aircrafts. Considering the time / space synchronous arrival constraint in aircraft cluster cooperative guidance, a multi-constraint cooperative guidance strategy based on time control is adopted, which meets the requirements of arrival time and miss distance at the same time. On this basis, a cooperative collision avoidance mechanism based on conflict triggering is introduced, and a cooperative adjustment strategy that considers collision avoidance and cooperative attack is proposed. And a cooperative guidance method satisfying collision avoidance and spatio-temporal synchronization is obtained. The simulation results show that the proposed aircraft cluster cooperative guidance method considering collision avoidance constraints ensures safe distance constraints between aircrafts and has strong aircraft cluster cooperative time control ability and high guidance accuracy. It requires less iterative calculation, reduces the requirements for airborne processors, and provides a solution to the collision avoidance problem in aircraft cluster cooperative attack. This method has strong engineering application value.