摘要
对于满足无人机团队中各机同时到达目标这样一个特定的协同要求,首先采用K路径算法实现了无人机的多航迹规划,然后采用速度控制和K路径算法相结合的办法实现了各无人机之间的时间协同。对整个协同航迹规划问题,采用一种分散式求解方法,把高维优化问题分解成低维、计算量小、通讯数据少的问题。
To fulfill the specific requirement of cooperating multi UCAVs that reach their objects simultaneously, the K-shortest path algorithm is used in multi path generation, and speed restriction is integrated into K-shortest path algorithm to cooperate the UCAVs. A decentralized approach is used in solving the whole cooperative programming problem： divide the multidimensional problems into low-dimensional problems that cost less computation and communication time.
出处
《微计算机信息》
北大核心
2008年第24期208-209,108,共3页
Control & Automation
