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中文摘要：
在势场理论的基础上对穿越多威胁区的无人机路径进行了协同规划,在规划中将每个威胁区按实际情况分为极危险区域和次危险区域,而这些威胁不仅包括己方情报所得的已知威胁,而且包括在执行攻击任务过程中新发现的突发威胁,然后利用物理学中的扩散方程建立势场,并在已建立的势场中对多无人机进行整体协同路径规划。在建立模型的同时,进行了仿真模拟,仿真结果表明了该方法的正确性和可行性。
英文摘要：
This paper studies cooperative path planning of multiple UAVs on base of potential field concept.Threatened area,including known threats that are known before path planning and pop-up threats which are new detected by UAVs during their mission,are divided into two areas： a critical area and a less dangerous area.Then,potential field is established by diffusion equation in physics.After that,path planning of the whole team is carried on in the established potential field.At the time of model building,simulation of the model is presented and the simulation results demonstrate the feasibility of this approach.
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