ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Unmanned group resilient motion planning for attacking sea surface targets
Received date: 2023-08-17
Revised date: 2023-08-28
Accepted date: 2023-09-13
Online published: 2023-09-27
Supported by
Joint Fund of Equipment Pre-Research and Ministry of Education(8091B022235);Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(SL2022MS010);Key Laboratory Fund of National Defense Science and Technology(2022JCJQLB03308)
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.
Bochen LI , Shuangcheng NIU , Lu DING , Chenggang WANG , Lei SONG , Yuqiang JIN . Unmanned group resilient motion planning for attacking sea surface targets[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(12) : 329455 -329455 . DOI: 10.7527/S1000-6893.2023.29455
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