为了进行多导弹从指定方向同时攻击目标的协同航迹规划。文中基于稀疏A*算法,根据导弹飞行约束和轨迹圆滑方式扩展节点;通过增加控制点并调整代价函数实现攻击角度约束;假设多导弹速度相同,通过选取期望长度重新规划其他航迹;对航迹节点进行时空安全检测与重置,避免了弹间的碰撞;最后进行轨迹平滑,得到满足飞行和攻击约束的可飞航迹。仿真结果表明了算法的有效性。

In order to carry out coordinated flight planning of multiple missiles simultaneously attacking targets from a specified direction. Based on the sparse A algorithm, the node is extended according to the missile flight constraint and the trajectory smoothing method; the angle to attack constraint is realized by increasing the control point and adjusting the cost function; assuming that the multi-missile speed is the same, re-planning other tracks by selecting the desired length; the nodes perform time-space security detection and resetting to avoid collisions among the missiles; finally, the trajectory is smoothed to obtain flightable tracks that meet the constraints of flight and attack. The simulation results show the effectiveness of the algorithm.