基于二阶锥优化的多弹在线协同规划与仿真
|
摘要
针对目前导弹协同轨迹规划算法存在的求解时间长,难以有效考虑弹间距约束等问题,提出一种新颖的基于序列二阶锥优化的多导弹协同轨迹规划算法。首先,建立了多弹协同轨迹规划的最优控制模型。其次,详细地给出了最优控制模型的凸化过程和线性化过程,并提出了一种新的弹间距约束的凸化方式,减少了原有凸化方式的保守性,并采用基于序列二阶锥优化求解算法进行了算法求解。最后进行了算法仿真,仿真结果验证了该方法的有效性与高效性。
The current solution time of multi-missiles cooperative trajectory planning algorithm is long, and these algorithms cannot consider the inter-missiles collision avoidance effectively. A novel multi-missiles cooperative trajectory planning algorithm based on sequential second-order cone optimization is proposed in this paper. Firstly, the optimal control model of multi-missiles cooperative trajectory planning was established. Secondly, the convexity process and linearization process of the optimal control model were given in detail, and a new convexity method of inter-missiles collision avoidance was proposed, which reduces the original conservativeness of the convexity method. The algorithm based on sequential second-order cone optimization was given. Finally, the simulation part was given, which verifies the effectiveness and efficiency of the method.
The current solution time of multi-missiles cooperative trajectory planning algorithm is long, and these algorithms cannot consider the inter-missiles collision avoidance effectively. A novel multi-missiles cooperative trajectory planning algorithm based on sequential second-order cone optimization is proposed in this paper. Firstly, the optimal control model of multi-missiles cooperative trajectory planning was established. Secondly, the convexity process and linearization process of the optimal control model were given in detail, and a new convexity method of inter-missiles collision avoidance was proposed, which reduces the original conservativeness of the convexity method. The algorithm based on sequential second-order cone optimization was given. Finally, the simulation part was given, which verifies the effectiveness and efficiency of the method.
引文
[1] 赵建博,杨树兴.多导弹协同制导研究综述[J].航空学报,2017,(1):17-29.
[2] 陈海汉,刘因,杜运磊.无人飞行器航迹规划研究[J].计算机应用,2011,(9):2574-2576.
[3] 杜继永,等.无人飞行器航迹规划的工程化稀疏A*算法[J].计算机应用研究,2013,(8):2464-2466.
[4] 郗永军,周德云.多无人机协同攻击路径规划研究[J].计算机仿真,2010,(3):69-72,135.
[5] 宋建梅,李侃.基于A*算法的远程导弹三维航迹规划算法[J].北京理工大学学报,2007,(7):613-617.
[6] 张煜,张万鹏,陈璟,等.基于Gauss伪谱法的UCAV对地攻击武器投放轨迹规划[J].航空学报,2011,(7):1240-1251.
[7] M Basu.Improved Particle Swarm Optimization for Global Optimization of Unimodal and Multimodal Functions[J].Journal of the Institution of Engineers (India):Series B (Electrical,Electronics &Telecommunication and Computer Engineering),2016,97(4):525-35.
[8] 白瑞光,等.基于Gauss伪谱法的多UAV协同航迹规划[J].宇航学报,2014,(9):1022-1029.
[9] 王祝,等.基于罚函数序列凸规划的多无人机轨迹规划[J].航空学报,2016,(10):3149-3158.
[10] X F Liu,P Lu.Solving nonconvex optimal control problems by convex optimization[J].Journal of Guidance,Control,and Dynamics,2014,37(3):750-65.
[11] Q Gong,L R Lewis,I M Ross.Pseudospectral motion planning for autonomous vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(3):1039-45.
[12] X F Liu,P Lu.Solving nonconvex optimal control problems by convex optimization[J].Journal of Guidance,Control,and Dynamics,2014,37(3):750-65.
[13] D Morgan,C Soon-Jo,F Y Hadaegh.Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming[J].Journal of Guidance,Control,and Dynamics,2014,37(6):1725-40.
[14] Y F Chen,M Cutler,J P How.Decoupled multiagent path planning via incremental sequential convex programming[C].2015 IEEE International Conference on Robotics and Automation (ICRA).Proceedings.IEEE,2015:5954-61.
[15] S Boyd,L Vandenberghe.Convex Optimization[M].New York:Cambridge University Press,2004:1-15.
[16] A Domahidi,E Chu,S Boyd.ECOS:an SOCP solver for embedded systems[C].2013 European Control Conference (ECC).IEEE,2013:3071-6.
[2] 陈海汉,刘因,杜运磊.无人飞行器航迹规划研究[J].计算机应用,2011,(9):2574-2576.
[3] 杜继永,等.无人飞行器航迹规划的工程化稀疏A*算法[J].计算机应用研究,2013,(8):2464-2466.
[4] 郗永军,周德云.多无人机协同攻击路径规划研究[J].计算机仿真,2010,(3):69-72,135.
[5] 宋建梅,李侃.基于A*算法的远程导弹三维航迹规划算法[J].北京理工大学学报,2007,(7):613-617.
[6] 张煜,张万鹏,陈璟,等.基于Gauss伪谱法的UCAV对地攻击武器投放轨迹规划[J].航空学报,2011,(7):1240-1251.
[7] M Basu.Improved Particle Swarm Optimization for Global Optimization of Unimodal and Multimodal Functions[J].Journal of the Institution of Engineers (India):Series B (Electrical,Electronics &Telecommunication and Computer Engineering),2016,97(4):525-35.
[8] 白瑞光,等.基于Gauss伪谱法的多UAV协同航迹规划[J].宇航学报,2014,(9):1022-1029.
[9] 王祝,等.基于罚函数序列凸规划的多无人机轨迹规划[J].航空学报,2016,(10):3149-3158.
[10] X F Liu,P Lu.Solving nonconvex optimal control problems by convex optimization[J].Journal of Guidance,Control,and Dynamics,2014,37(3):750-65.
[11] Q Gong,L R Lewis,I M Ross.Pseudospectral motion planning for autonomous vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(3):1039-45.
[12] X F Liu,P Lu.Solving nonconvex optimal control problems by convex optimization[J].Journal of Guidance,Control,and Dynamics,2014,37(3):750-65.
[13] D Morgan,C Soon-Jo,F Y Hadaegh.Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming[J].Journal of Guidance,Control,and Dynamics,2014,37(6):1725-40.
[14] Y F Chen,M Cutler,J P How.Decoupled multiagent path planning via incremental sequential convex programming[C].2015 IEEE International Conference on Robotics and Automation (ICRA).Proceedings.IEEE,2015:5954-61.
[15] S Boyd,L Vandenberghe.Convex Optimization[M].New York:Cambridge University Press,2004:1-15.
[16] A Domahidi,E Chu,S Boyd.ECOS:an SOCP solver for embedded systems[C].2013 European Control Conference (ECC).IEEE,2013:3071-6.