针对多无人机超低空突防的航迹规划问题,在分析约束条件和假设下简化为水平航迹平面规划。通过证明几何最短路径定理,研究单威胁情况下考虑最小转弯半径和攻击方位角限制下的最短航迹并计算导航点。其次讨论了突发威胁情况的航迹规避与调整,考虑多威胁圆重叠情况下的导航点坐标的推导,提出了一种新的多威胁规避最短切线逆推航迹规划几何算法,最后仿真验证该算法用于求解多威胁圆航迹规划问题的合理性和有效性。

In view of path planning problem of multiple unmanned aerial vehicle (UAV) hedgehopping penetration, it can be simplified to only consider UAV lateral movement level route planning. In the analysis of route planning constraints and under the problem assumption, the theorem of geometric shortest path was proved, focused on single threat situation, considering minimum turning radius and attack angle constraints, the shortest route of target attacking and the navigation point was calculated. route elusion and adjustment for sudden threat were discussed. Under the threat circles overlap cases, navigation coordinate deduction was studied. For route planning problem of multiple threats, a new trajectory planning geometric algorithm was proposed by the shortest tangent recursion method for avoidance of multiple threat circles. The simulation results verify rationality and validity of the new algorithm.