飞控与探测2026，Vol.9Issue(2)：31-41,11.DOI:10.20249/j.cnki.2096-5974.2026.02.004
空海协同任务中无人集群协同路径规划充电调度联合优化方法
Joint Optimization Algorithm for Cooperative Path Planning and Charging Scheduling of Unmanned Swarms in Air-Sea Coordinated Missions
摘要
Abstract
To meet the requirements of air-sea cooperative interception in maritime blockade mis-sions,and to address the difficulty of conventional multi-unmanned aerial vehicle path planning in handling both complex path constraints and continuous energy limitations,a two-stage optimiza-tion-based method for path planning and charging scheduling is proposed.In the first stage,a be-havior-based directed acyclic graph is constructed in the action-state space,and the joint path plan-ning problem is formulated as an integer programming model with task time window and battery-energy constraints,thereby generating task routes and coarse sea-based charging decisions for each UAV.In the second stage,a mixed-integer linear programming model is built on this basis to re-fine the docking-and-charging duration within given charging windows,so as to reduce overall task execution time as much as possible while ensuring that the onboard batteries never become fully depleted.Numerical simulation results in the designed maritime confrontation scenarios with dif-ferent scales of hostile unmanned surface vessels(USVs)indicate that the proposed method can ef-fectively intercept most hostile USVs,demonstrating the effectiveness of the two-stage optimiza-tion framework for air-sea cooperative interception.关键词
空海协同拦截对抗/海上封控任务/最优路径规划/充电优化/两阶段优化Key words
air-sea cooperative interception/maritime blockade mission/optimal path planning/charging optimization/two-stage optimization分类
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王小军,刘廷轩,文泽凌,季袁冬,宁召柯..空海协同任务中无人集群协同路径规划充电调度联合优化方法[J].飞控与探测,2026,9(2):31-41,11.基金项目
四川省科技计划(2024NSFSC1485) （2024NSFSC1485）
