UCAV formation collaborative trajectory planning based on hp adaptive pseudospectral method

The collaborative trajectory planning of UCAV formation is a complex nonlinear optimization problem. At first, according to the analysis of the UCAV formation attack process, the synergy elements are given. Then according to combining the UCAV kinematics/dynamics model and the relative motion equation, the UCAV formation trajectory planning is established. And the threat of single UCAV, the threat of formation members, the time cost value, and the time error of the execution instruction are considered. Finally, in order to solve the problem, hp adaptive pseudospectral method is proposed. The simulation results for the UCAV formation trajectory planning show that the proposed method is feasible.