多无人机编队突发威胁规避路径规划算法

To solve the pop-up threats avoidance problem of multiple unmanned autonomous vehicles (Multiple-UAV) formation in complex environment, a real-time path planning method is proposed based on convex optimization algorithm. First, the problem of pop-up threats avoidance is formulated as a constrained optimization problem based on the pop-up threats models and the UAV dynamics. Second, the constrained optimization problem is transformed into a series of convex optimization problems based on the equivalent transformation. Then, the convex optimization algorithm is used to iteratively solve the convex optimization problems, and interpolate the resulting path to get the path function. Because the direct method is adopted for the iteration in the solution process, so, the operation efficiency is high, and the real-time path planning can be realized. Finally, the simulation results of the path planning algorithm based on the Matlab show that the proposed algorithm can achieve real-time avoidance threats of multi-UAV formation.