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Cooperative Velocity Planning for Multiple UCAVs in Hostile Environments

In hostile environments,as the threatening regions overlap each other,one Unmanned Combat Aerial Vehicles(UCAV) may suffer from multiple anti-air sites simultaneously.This paper solves the problem of cooperative velocity planning for a fleet of UCAVs in hostile environments using Multi-objective Evolutionary Algorithms(MOEA).The velocity of each UCAV is planned to cooperate the sequence,in which the UCAVs pass their critical waypoints.There are two objectives to be optimized,one is to minimize the total threatened value that the UCAVs suffer from and the other one is to minimize the difference between average velocity and the expected one of each UCAV.At the same time,one constraint that the acceleration limitation of the UCAV must not be violated.A e concept based MOEA was employed to calculate the problem at hand.The simulation results show that our method can optimize the problem properly and the bounded number of Pareto-optimal variables can be used by decision maker conveniently.