面向海上目标打击的无人编组弹性运动规划

doi:10.7527/S1000-6893.2023.29455

Abstract

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

CLC Number:

V279

Bochen LI, Shuangcheng NIU, Lu DING, Chenggang WANG, Lei SONG, Yuqiang JIN. Unmanned group resilient motion planning for attacking sea surface targets[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(12): 329455-329455.

Figures/Tables 13

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Fig.5

Table 1

Parameters settings of combat units

作战单元	生命力	最大速度 $/ (m ⋅ s - 1)$	最小速度 $/ (m ⋅ s - 1)$	最大角速度 $/ (r a d ⋅ s - 1)$
水面目标	50	10	0	0.08
攻方无人机	25	95	20	0.18
守方无人机	30	100	30	0.07
对空无人艇	50	20	0	0.08

Table 1

Table 2

Parameter settings of algorithm

参数	数值
$ρ 1$	3
$ρ 2$	3
$κ$	4
$λ$	3
$δ m a x$	3

Table 2

Fig.6

Fig.7

Fig.8

Table 3

Fig.9

Fig.10

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Unmanned group resilient motion planning for attacking sea surface targets

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