Cooperative Tactical Planning Method for UAV Formation

This paper addresses a hierarchical structure for the cooperative tactical planning to solve the problem of autonomous control and decision-making of unmanned aerial vehicles(UAVs) in modem air combat. Firstly, the hierarchical relationship between the operational and tactical levels is discussed according to the offline and online operational planning of UAV, and the iterative optimization scheme of operational objectives is proposed. Additionally, some feasible methods of UAV formation cooperative operation are studied in three-dimensional space, which includes the allocation of combat resources, formation cooperative task allocation, and route planning. Further combined with the A-Star algorithm, the cooperative combat experiment of UAV formation is carried out in different threat scenarios. Finally, simulation results verify the effectiveness of the tactical planning method.