多元威胁环境下无人机集群隐身航迹规划算法

doi:10.12305/j.issn.1001-506X.2025.09.18

Abstract

Abstract:

Aiming at the paths planning and platform security issue of unmanned aerial vehicle （UAV） swarm in modern warfare in the multiple-threat environment, a stealthy paths planning algorithm for UAV swarm is proposed. Firstly, a multiple-threat environment model is established. Then, a comprehensive cost function for swarm stealthy paths planning considering UAV’s range, networked radar detection probability, and antiaircraft guns threat probability is designed by combining with UAV radar cross section. On this basis, the optimization objective is to minimize the comprehensive cost function of the UAV swarm in order to meet the paths feasibility determination and UAV swarm dynamics constraints as constraints, to construct the optimization model of UAV swarm stealthy paths planning in a multiple-threat environment. Finally, the improved A* algorithm is used to solve the above optimization model. The simulation results show that in comparison to existing algorithms, the proposed algorithm can effectively reduce the comprehensive cost of the UAV swarm under the condition of ensuring the feasibility of each UAV path and its dynamics performance constraints. The proposed algorithm can achieve the purpose of improving the stealthy performance of the swarm’s paths.

Key words: stealthy paths planning, unmanned aerial vehicle（UAV） swarm, multiple-threat environment, A* algorithm, comprehensive cost function

CLC Number:

TN 957

Wen WEN, Chenguang SHI, Jianjiang ZHOU. Stealthy paths planning algorithm for UAV swarm in multiple-threat environment[J]. Systems Engineering and Electronics, 2025, 47(9): 2971-2984.

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References 33

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无人机编号	起点/km	终点/km
无人机1	（5，18）	（70，85）
无人机2	（10，15）	（78，55）
无人机3	（5，25）	（90，77）
无人机4	（5，35）	（50，95）
无人机5	（20，10）	（89，40）
无人机6	（5，40）	（40，70）
无人机7	（25，5）	（95，70）
无人机8	（50，5）	（25，85）
无人机9	（70，15）	（5，60）
无人机10	（75，20）	（5，85）

雷达编号	位置
雷达1	（50，50）
雷达2	（25，50）
雷达3	（50，25）
雷达4	（25，25）

算法	航程/km	综合代价	运行时间/s
所提算法	2580	78.16	7.74
对比算法	2536	108.73	9.31

算法	航程/km	综合代价	运行时间/s
所提算法	4535	143.26	21.88
对比算法	4497	191.86	24.54

固定障碍物编号	顶点1	顶点2	顶点3	顶点4
1	（75，60）	（89，60）	（75，73）	（89，73）
2	（74，35）	（85，35）	（74，46）	（85，46）
3	（49，70）	（60，70）	（49，81）	（60，81）

Stealthy paths planning algorithm for UAV swarm in multiple-threat environment

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威胁名称	最大威胁距离	最小威胁距离	高射炮位置
高射炮	60	20	（50，80）

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[5]	HUANG Jun, YU Lei, CHEN Zhong-qi, REN Bo, ZHANG Bin. Real-time path planning for optic-guided cruise missiles [J]. Journal of Systems Engineering and Electronics, 2010, 32(4): 799-802.

算法	航程/km	综合代价	运行时间/s
所提算法	2 630	79.12	9.15
对比算法	2 587	113.91	16.02

算法	航程/km	综合代价	运行时间/s
所提算法	4 605	145.59	25.24
对比算法	4 520	206.16	41.42

算法	航程/km	综合代价	运行时间/s
所提算法	2 620	73.91	9.7
对比算法	2 575	104.62	12.9

算法	航程/km	综合代价	运行时间/s
所提算法	4 595	134.73	17.90
对比算法	4 511	228.05	20.97