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Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack

Journal of Systems Engineering and Electronics 2012年第4期23卷 536-552页

作者： Yu Zhang Jing Chen Lincheng Shen School of Mechatronics Engineering and Automation National University of Defense TechnologyChangsha 410073E R.China

This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle （UCAV） performing an air-to-surface multi-target attack （A/SMTA） mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem （TSP）, called the dynamic-constrained TSP with neighborhoods （DCT- SPN）. Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable proba- bilistic roadmap （PRM） is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmet- ric TSP （ATSP）. Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes.

关键词： hierarchical trajectory planning air-to-surface multi-target attack (A/SMTA) traveling salesman problem (TSP) proba-bilistic roadmap Gauss pseudospectral method unmanned com-bat aerial vehicle (UCAV).

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