Collaborative Path Planning Study of Intelligent Munitions Formations

Intelligent munitions formation cooperative path planning is an important part of intelligent munitions cooperative operation, which has a good guiding effect on the results of cooperative operation. In order to improve the real-time and operability of real-time trajectory planning for smart munition formation coordination, and to solve the problem of poor stability of smart munition formation coordination trajectory planning solution. Based on the research and analysis of constraint conditions impacting the cooperation among multiple munitions, and by integrating core indices in single munition track planning and a three-dimensional digital space model, an optimization function for cooperative track planning of intelligent munition formations was established. Three algorithms, namely GWO, MP-GWO, and CS-GWO based on the shortest path theory inspired by wolf hunting behavior in nature were proposed to enable obstacle avoidance patrol flights for fixed-point threat targets within designated combat areas. Flight simulations and result analyses were conducted to evaluate the performance of the munition formations in the specified environment. The simulation results demonstrate that, under identical conditions, MP-GWO fails to meet the structural requirements of intelligent ammunition. CS-GWO satisfies the cooperative requirements but falls short in terms of real-time demands. Conversely, the simulation results obtained by GWO solving model fulfill both real-time and cooperative prerequisites, thereby validating the effectiveness and superiority of GWO cooperative track planning method.