中文摘要：

现代战争中,无人机对战前情报收集、重要空域控制、重点目标监视和打击等起着关键作用.随着攻击方参战无人机的规模增加,相应防御方的防御力度也在提高.无人机群的作战任务面临的是多目标多雷达的防御群.因此,多无人机协同任务规划的研究主要集中在任务分配和路径规划.基于蚁群算法建立了针对目标群简化的数学模型,解决了侦查无人机滞留防御方雷达探测范围内的时间总和最小的航线优化问题,完成了无人机侦查任务拟制最佳路线和调度策略,实现了多无人机的协同任务规划.

英文摘要：

In modern war, the UAV has an important impact on collecting of intelligence, controlling of key areas and detecting and attacking of key target. With the increase of attacker UAV, the defenders have to improve their defenses, which make UAV group directly face more and more radars of defense group. Now the planning research of collaborative tasks for Muhi-UAV focuses on task allocation and path planning. In this paper, a simplified mathematical modal about target group is built according to the concept of ant colony algorithm, and the problems of optimal path and the sum of minimum time staying in the range of detecting defender＇s radar group are solved. This paper comes up with the great detection path and method of path planning for UAV according to that modal, and then collaborative tasks planning for Multi-UAV can become true.