Trajectory planning for penetration of multi-aircraft for mation based on improved convex optimization algorithm

In order to better leverage the advantages of mult-aircraft formation in low altitude penetration operations, an improved convex optimization algorithm is proposed for low altitude penetration trajectory planning of multi-aircraft formation. Firstly, problem modeling is carried out based on the characteristics of low altitude penetration missions, including mult-aircraft formation trajectory planning models, obstacle models, and task allocation evaluation models. Secondly, the concept of cluster task grouping based on the Hungarian algorithm is proposed to design a pre planned track that is more in line with the needs of the battlefield and the laws of kinematics. Afterwards, considering new types of external obstacles and inter group obstacle avoidance between different task groups, reasonable approximation and convex optimization of constraints are carried out to achieve safe flight of multi-aircraft. Finally, the feasibility and effectiveness of the proposed improvement method were verified through comparative simulation. The results show that the improved trajectory planning algorithm can achieve reasonable allocation of low altitude penetration tasks, improve solving efficiency and success rate, and have a good obstacle avoidance effect on newly added obstacles. © 2023 Chinese Institute of Electronics. All rights reserved.