Trajectory Planning for Multiple Uninhabited Combat Air Vehicles
多UCAV航迹规划研究

A real\|time and feasible algorithm of trajectory planning for multiple UCAVs is developed. The system architecture of trajectory planning for multiple UCAVs is constructed. The new idea that the cooperative manager is constructed in terms of cooperative time is proposed. The approach of determining the cooperative time of multiple UCAVs is presented. Using voronoi based algorithm, the waypoint path for UCAV is planned. The flyable trajectory is obtained by bang\|bang control principle. The Matlab simulation result demonstrates the trajectory planning algorithm is effective.