Research on UAV Surge Trajectory Planning Methods in Denial Environments

This study proposes a method for unmanned aerial vehicle (UAV) penetration trajectory planning under a multi-threat denial environment. Firstly, various threat sources are analyzed and modeled based on the principle of denial environment, and then a trajectory planning model with the detection probability as the evaluation function is designed according to the effect of threat action, and the positioning error is introduced as a constraint. Finally, by constructing a cost function based on the probability of being detected, the optimization of penetration trajectory scheme is achieved using a redesigned A-star search algorithm. Simulation experiments demonstrate that the proposed method can provide better trajectories for UAV penetration in denial environments.