Abstract:

In order to solve the problem of cooperative path planning for multiple anti-ship missiles, a path planning model is built based on cooperation in space and time, and the algorithm which feasible nodes are dynamically created and the algorithm based on cooperative evolution in multiple ant colonies are designed to figure out the models above. In the first algorithm, the search tree is built in mission space and infeasible nodes are deleted at the same time, therefore, the search range of path optimization is reduced. In the second algorithm, the optimized path muster of multiple missiles is collaterally searched through introducing the co-evolutionary strategy among multi-ant-colony and designing state transition rule and pheromone updating mechanism. The simulation results show that the proposed method could plan optimized cooperative paths for multiple anti-ship missiles, and that method is adapted for not only beforehand planning but also local real-time planning.