Research on method of multiple UCAVs multi-target attacking path planning based on pop-up mission

For the path planning of multiple unmanned combat aerial vehicles (UCAVs) engaged in tasks in an uncertain and dynamic environment, a path planning method based on pop-up mission was proposed. Initially, according to the Voronoi directed graph and Dijkstra algorithm, each UCAV planned its own original optimal and/or sub-optimal paths. To study the ways of multi-target and cooperative attack in path planning, a task module based on multi-target attacking was designed. Lastly, combined with pop-up mission, the multi-target attacking strategy was introduced. Simulation results demonstrate the feasibility of the approach.