关键词: 无人作战飞行器, 人工势场, 轨迹规划

Abstract: This paper proposes an escape strategy based on normal substitution method to keep UCAV away from the zero potential zones for the purpose of solving the disadvantage of APF in the case of applying the multi-UCAVs long distance penetration trajectory decision, which is in the condition of considering the constraint of member safety. The battlefield grid model and discrete motion model of UCAV are built, and then analyzing the relative position between UCAV members in the formation. Considering the security between the UCAV formation members, a repulsion potential field is introduced into constructing the model of penetration potential field. Numerical simulation demonstrates the effectiveness of the constructed models and the proposed trajectory planning strategy.

Key words: Unmanned Combat Aerial Vehicle（UCAV）, artificial potential field, trajectory planning