关键词: 对海突击, 运动规划, 控制障碍函数, 威胁规避, 空海协同

Abstract:

To achieve high efficacy of a strike mission on targets at sea using air-sea unmanned groups， a resilient motion planning method which can handle adversarial attacks is proposed. Based on the underactuated kinematics model of combat units， a control barrier function with relative motion states is proposed. The forward invariance of the safety set is established considering the maximal violation of safety bounds by the enemy. As a result， the motion planning algorithm can generate threat evasion maneuvers by configuring the linear and angular velocities of combat units. To solve the feasibility problem caused by multi-constraints’ confliction when multiple hostile Unmanned Aerial Vehicles （UAV） are launched by the enemy， the relaxation variable is introduced into the constraints based on the evaluated enemies’ threats. On this basis， an anti-air support algorithm of Unmanned Surface Vehicles （USV） is proposed for penetration mission of UAV groups. The simulation results show that the proposed algorithm can achieve a high success rate of striking the sea surface target while the defending UAVs adopt the optimal pursuit strategy with speed advantages.

Key words: sea attack, motion planning, control barrier function, threat evasion, air-sea cooperation