空天防御2025，Vol.8Issue(1)：31-40,10.
无人机群协同侦察多点目标路径规划与控制
Path Planning and Control of UAV Cluster Cooperative Reconnaissance Multi-Point Targets
摘要
Abstract
Based on the background of multi-UAV cooperative reconnaissance of multi-point targets,a clustering algorithm using reconnaissance coverage was designed in this study.The path planning and control problem of multi-point targets was solved by employing the ant colony algorithm and consistency algorithm.Firstly,a clustering algorithm was designed to reintegrate the target points to resolve the problem of repeated reconnaissance of target points.Then,the UAV flight path was projected according to the integrated target clustering results,and the reconnaissance sequence was determined from the clustered virtual target points.Finally,the consistency algorithm was applied to complete the formation-keeping and path-tracking algorithm of the UAV formation so that the UAV cluster could maintain a certain formation and complete the reconnaissance task according to the reconnaissance sequence.Simulation verification was carried out using the above algorithm,and the effectiveness of the clustering algorithm,path planning,UAV control and path control were verified.关键词
无人机集群/聚类/路径规划/协同控制Key words
UAV cluster/clustering algorithm/path planning/cooperative control分类
航空航天引用本文复制引用
何通,韦亚利,卢青,毕千..无人机群协同侦察多点目标路径规划与控制[J].空天防御,2025,8(1):31-40,10.基金项目
国家自然科学基金资助项目(62373307 （）
62103331) （）
中国航天科技集团有限公司上海航天科技创新基金资助项目(SAST2020-008) （SAST2020-008）
