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针对路径在线重规划中的威胁代价评估问题,提出了基于最大综合拦截概率的在线威胁代价评估改进算法。在该算法中,以已有威胁代价评估模型为基础,给出不同信息支持条件下的“瞬时跟踪概率”计算模块,进而引入“连续跟踪概率”概念,并结合“杀伤概率”得到“拦截概率”概念模块。在此基础上,提出“最大拦截概率”概念,以此作为单个主动威胁作用下的在线威胁代价评估标准,最后将其拓展到“最大综合拦截概率”作为多个主动威胁作用下的在线威胁代价评估标准。在此基础上,结合MPC算法给出路径在线重规划的模型。通过仿真结果对比,说明上述模型的合理性和算法的有效性。
In order to assess the threat cost of online path planning, an improved algorithm of online threat cost evaluation based on the maximum integrated blocking probability is proposed. In this algorithm, the “Instantaneous Tracking Probability” calculation module under different information support conditions is given based on the existing threat cost evaluation model, and then the concept of “Continuous Tracking Probability” is introduced. Combining with the “Killing Probability ”Get “ Probability of Interception ”concept module. On this basis, the concept of “maximum intercept probability” is put forward as a criterion for evaluating the online threat cost under the single active threat, and finally it is expanded to “maximum intercept probability” as a number of active threats Online threat pricing assessment criteria. On this basis, the MPC algorithm is given to model the path online re-planning. By comparing the simulation results, the rationality of the above model and the effectiveness of the algorithm are illustrated.