Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach

  • Xueqiang Gu National University of Defense Technology, Changsha
  • Yu Zhang National University of Defense Technology, Changsha
  • Jing Chen National University of Defense Technology, Changsha
  • Lincheng Shen National University of Defense Technology, Changsha
Keywords: Cooperative trajectory planning, unmanned combat aerial vehicle, differential flatness, B-spline curve, allowable attack region

Abstract

This paper investigates the cooperative trajectory planning for multiple unmanned combat aerial vehicles in performing autonomous cooperative air-to-ground target attack missions. Firstly, the collision-free cooperative trajectory planning problem for time-critical missions is formulated as a cooperative trajectory optimal control problem (CTP-OCP), which is based on an approximate allowable attack region model, several constraints model, and a multi-criteria objective function. Next, a planning algorithm based on the differential flatness, B-spline curves and nonlinear programming is designed to solve the CTP-OCP. In particular, the notion of the virtual time is introduced to deal with the temporal constraints. Finally, the proposed approach is validated by two typical scenarios and the simulation results show the feasibility and effectiveness of the proposed planning approach.

Defence Science Journal, Vol. 64, No. 1, January 2014, DOI:10.14429/dsj.64.2999

Author Biographies

Xueqiang Gu, National University of Defense Technology, Changsha
Dr Xueqiang Gu is a PhD scholar in College of Mechatronic Engineering and Automation, National University of Defense Technology (NUDT), Changsha, Hunan, China. His current research interests included: combat vehicle mission planning and intelligence control.
Yu Zhang, National University of Defense Technology, Changsha
Dr Yu Zhang received his PhD in control science and engineering from NUDT, Changsha, Hunan, China in 2012. He is a Docent of College of Mechatronic Engineering and Automation in NUDT. His current research interests included: combat vehicle mission planning and artificial intelligence.
Jing Chen, National University of Defense Technology, Changsha
Dr Jing Chen obtained his PhD in control science and engineering from NUDT in 1999. He is a Professor of College of Mechatronic Engineering and Automation in NUDT, Changsha, Hunan, China. His current research interests included: artificial intelligence and mission planning of aircraft.
Lincheng Shen, National University of Defense Technology, Changsha
Mr Lincheng Shen is the Dean and Professor of College of Mechatronic Engineering and Automation in NUDT, Changsha, Hunan, China. He has published over 100 technical papers in refereed international journals and academic conferences. His current research interests included: mission planning, SAR image processing, biomimetic robotics, automation and control engineering.
Published
2014-01-17
How to Cite
Gu, X., Zhang, Y., Chen, J., & Shen, L. (2014). Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach. Defence Science Journal, 64(1), 13-20. https://doi.org/10.14429/dsj.64.2999
Section
Aeronautical Systems

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