融合时空散列的三维RRT*多编队航路规划

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关键词：时空散列思想；无人机多编队航路规划；散列计算；增强型快速扩展随机树；时空约束域中图分类号：TP273 文献标志码：A DOI：10.12305/j.issn. 1001-506X. 2025. 07.1

Abstract：Addressing the research gap in spatio-temporal path generation for multi-formation，a multiunmanned aerial vehicle（UAV） formation route planning method is proposed integrating spatio-temporal hash concept. The third-generation secure hash algorithm is employed to process spatio-temporal waypoint information through hash computation and linear mapping，deriving spatio-temporal navigation points and formation flight regions. The methodology optimizes biased sampling using spatio-temporal point-surface information，effectively resolving issues of sampling concentration and excessive invalid path depth in multiformation. A three-dimensional enhanced fastly-exploring random tree multi formation route planning algorithm based on waypoint offset and spatio-temporal smooth optimization is designed，with spatio-temporal diference waypoints as the offset target.By integrating artificial potential field methods with spatio-temporalconstraints to optimize the node search cost function，the algorithm achieves spatio-temporally optimal differentiated paths. Experimental results demonstrate that the proposed method reduces planning time and node count by 53.33% （20号 and 17.53% respectively，with multi-formation path data verifying its spatio-temporal differentiation capability.

Keywords ： spatio-temporal hash concept； multi-unmanned aerial vehicle（UAV） formation route planning;hash computation； enhanced rapidly-exploring random tree （RRT）；spatio-temporal constraint domain

0 引言

随着电子战的兴起，无人机多编队协同作战方式被广泛应用于情报收集、侦察监视、精确打击等方面，多无人机按编队单位协同部署可实现更广泛的控制区域和更高效的信息共享[2]。（剩余17443字）