A UAV formation maneuvering decision algorithm based on heuristic tactics knowledge

A UAV formation is the essential air combat unit which consists of two or three UAVs. An autonomous maneuvering decision algorithm in an adversarial environment based on pilots tactics experience knowledge is proposed. Firstly, a situation assessment modeling method based on naive Bayes is addressed, in which the historical situation is took into consideration when predicting the next moment situation. Secondly, pilots' tactics experiences and the heuristic multi-UAVs cooperative attack strategy are mathematically modeled and brought in which can improve the decision operator efficiency. Finally, a decision method based on Nash equilibrium is described to work out sequences of optimal maneuvering at discrete time moment. Simulations results show that the algorithms quickly provide good feasible solutions, and find the optimal maneuvering solution in different typical air combat scenarios.