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对两架无人机(UAV)构建的通信中继链路的最优链路代价问题进行了研究。中继UAV要求以尽量小的通信代价维持中继链路,而侦察UAV需要通信代价较大的中继链路,以支持大范围侦察任务。因此,中继UAV和侦察UAV对通信中继链路的代价需求是一个微分对策问题。基于极大极小对策对这一问题进行建模求解,提出基于几何法的UAV导引律,进行UAV导引律设计时假设对手都是处于静止状态的,得到了可行的次优解。仿真试验表明了导引律设计方案的可行性,中继UAV和侦察UAV在相应的控制下,都能按照各自对通信链路代价的需求向目标运动。
The optimal link cost of communication relay link constructed by two unmanned aerial vehicles (UAV) was studied. Trunking UAVs require a trunk link to be maintained with as little communication cost as a reconnaissance UAV requires a trunked link that is costly to communicate to support a wide range of reconnaissance missions. Therefore, the cost of trunking UAV and reconnaissance UAV for communication relay link is a differential game. Based on the maximal minimum solution, this problem is modeled and solved. The UAV guidance law based on geometric method is proposed. When the design of UAV guidance law is made, it is assumed that the opponent is in a quiescent state, and a feasible suboptimal solution is obtained. The simulation results show that the design of the guidance law is feasible. Both the relay UAV and the reconnaissance UAV can move towards the target according to their respective demands on the communication link under the corresponding control.