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

摘要： 在考虑编队成员安全性因素的条件下，为解决人工势场模型用于多UCAV突防轨迹决策时的缺陷，提出了基于法向代替法的逃逸策略，使UCAV能对死区进行规避。建立了战场栅格化模型及UCAV离散运动模型，分析了编队成员间的相对位置关系。考虑到UCAV与邻机的安全性，在突防势场模型中构建了间距势能场，设计了UCAV突防轨迹规划策略。数值仿真验证了建立的模型和设计的轨迹规划策略的有效性。

关键词: 无人作战飞行器, 人工势场, 轨迹规划