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为解决无人机编队协同任务规划的仿真问题,提出了一个基于HLA/RTI的并行仿真架构进行协同任务规划仿真,通过真实的无人机气动力学仿真和飞控仿真,可以更真实有效地验证算法方案。通过建立无人机的损失概率模型,优化路径时将环境中的不确定性因素和威胁因素考虑在内。通过将每架无人机的失败概率模型与其它所有无人机的选定任务设定耦合联系可以提升协同真实性。为了尽可能实现理想的任务目标,使用随机仿真模型设计协作规划,最大程度提高无人机间的协作关系以提升生存概率。
In order to solve the simulation problem of coordinated mission planning for UAV formation, a parallel simulation program based on HLA / RTI is proposed to simulate collaborative mission planning. Through the actual UAV aerodynamic simulation and flight control simulation, it can verify more effectively and effectively Algorithm scheme. By setting up the model of loss probability of drone, the uncertainty and threat factors in the environment are taken into account when optimizing the route. Collaborative authenticity can be enhanced by coupling the failure probability model of each UAV to the selected mission settings of all other UAVs. In order to achieve the ideal mission goal as much as possible, a stochastic simulation model is used to design collaborative planning to maximize the collaboration between UAS to improve the survival probability.