4-Dimensional trajectory online rolling optimization design for unmanned combat aerial vehicle with multi-constraints

This paper proposes a 4-dimensional trajectory online rolling optimization approach for unmanned combat aerial vehicle (UCAV). Firstly, smoothing is made to digital terrain according to flight overload constraint and maximum climbing angle constraint, which generates flyable digital terrain for UCAV. Secondly, A polynomial function representing online trajectory is proposed, which reduces the complexity of trajectory optimizing by transmitting the trajectory online optimizing problem into two parameters optimizing problem of trajectory function, and further study shows the efficiency of the representing method in terminal points constraint handling. Additionally, a multi population composite differential evolution (MPCDE) approach is designed to search for the optimal two parameters with the aid of four different trial vector generation strategies. Finally, rolling optimizing strategy is detailedly designed for trajectory online optimization on trigger mechanism and trigger events. Simulation results are given to show the efficiency of the trajectory online rolling optimizing method designed in this paper.