采用自适应原始对偶迭代的无人机编队协同航路规划方法

A cooperative path planning method for unmanned aerial vehicle (UAV) formation is proposed to address the unstable radar tracking after the target maneuvers into the blind zone of UAV radar detection. Firstly, multiple constraints are constituted based on the blind zone of Dopplcr velocity, radar detection angle and range boundary, and so on. Then, an objective function is established for the purpose of steady tracking of maneuvering targets. The mathematical model of the cooperative path planning problem is established by the objective function and constraints. Finally, the mathematical model is quickly solved by the proposed adaptive primal-dual iterative (APDI) algorithm to obtain flight paths of UAVs in real time. Comparative simulation results show that the proposed method can realize fast cooperative path planning for a continuous and steady tracking of maneuvering targets. The APDI is a low complexity algorithm and has a higher solving speed with a 10% improvement in comparison with Gauss pseudospectral method and model predictive control method. Moreover, the UAV path solved by the proposed method is smooth, which can reduce the fuel consumption of UAV in flight, allowing for longer detection in the air.