A path planning method for an anti ship missile based on receding horizon optimal procedure

DOI:	10.11809/bqzbgcxb2023.09.007
Keywords:	anti ship missile; RHO; pseudo spectral method; Bézier curves; route planning
Abstract:	In response to the need to bypass our security no fly zones, enemy threat areas (such as radar detection and anti aircraft fire zones) during anti ship missile operations, especially dynamic threat areas, this paper proposes a path planning approach based on receding horizon optimal algorithm under dynamic threats and conducts online trajectory dynamic planning research. Firstly, based on the mathematical abstraction of the path planning problem, a planning model is formulated based on the energy, flight time and range index functions and satisfied with the constraints such as kinematic models and flight envelopes. And then, the path planning algorithm based on receding horizon optimization (RHO) and pseudo spectral method with Bézier curves correction is proposed, and the segmented paths and control inputs of the missile are solved by segment by segment in time periods. Finally, simulation trials for different threat scenarios and index functions show that: the algorithm is efficient, feasible, and credible; different index functions are optimized with different emphasis, but the results are positively correlated; the RHO method can avoid the threat zones, thus improve the missile defense penetration probability. In addition, RHO’s concept of time phased can effectively solve the path planning in dynamic threat areas and provide ideas for online planning.
Issue:	Vol. 44 No. 9 (2023)
Published:	2023-09-28
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