基于火炮转移路径预测的无人机集群反炮兵搜索路径规划

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Abstract：Modern artillry has the characteristics of maneuver combat，quick-hiting and fast-retreating. It is dificult to hit it directly based on the position provided bythe artillery reconnaissance radar.Therefore，a method for planning search paths for unmanned aerial vehicle（UAV） swarm to against artillry based on the prediction of the transfer path of artilery is proposed.The proposed method improves artillerg discover and strike effciency of UAV swarm by predicting the transfer path of artillery after shotting.The model of the batlefield environment and combat elements is established，and the concept of combat state and geomorphic environment suitabilityare proposed.The Markov state model of artillery combat is utilized to combine the combat state and geomorphic environment suitability for artilery transfer path prediction. An UAV swarm search path planning algorithm is constructed based on rolling time-domain optimization，and the search path optimization problem under sparse pheromone distribution is solved through the newly designed expected reward term in the objective function.The results of the simulation demonstrate that the proposed method is capable of efectively utilizing batlefield information to predict the possible transfer paths of blue artilery.In comparison to other methods for comparison，the proposed method demonstrates certain advantages in terms of effectiveness and stability in search and strike tasks，which provides a basis for subsequent practical applications.

Keywords：anti-artillery combat；unmanned aerial vehicle（UAV） swarm；Markov state model； searchpath planning

0 引言

随着相关技术的发展，无人机在民用[与军事领域[2]得到了广泛应用，特别在军事领域中，无人化的特点使其具有独到的优势[3]。（剩余21308字）