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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 748974, 15 pages
Research Article

A Virtual Motion Camouflage Approach for Cooperative Trajectory Planning of Multiple UCAVs

College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, Hunan 410073, China

Received 22 August 2013; Revised 28 November 2013; Accepted 1 December 2013; Published 22 January 2014

Academic Editor: Xinjie Zhang

Copyright © 2014 Xueqiang Gu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates cooperative trajectory planning of multiple unmanned combat aerial vehicles (multi-UCAV) in performing autonomous cooperative air-to-ground target attack missions. By integrating an approximate allowable attack region model, several constraint models, and a multicriterion objective function, the problem is formulated as a cooperative trajectory optimal control problem (CTOCP). Then, a virtual motion camouflage (VMC) for cooperative trajectory planning of multi-UCAV, combining with the differential flatness theory, Gauss pseudospectral method (GPM), and nonlinear programming, is designed to solve the CTOCP. In particular, the notion of the virtual time is introduced to the VMC problem formulation to handle the temporal cooperative constraints. The simulation experiments validate that the CTOCP can be effectively solved by the cooperative trajectory planning algorithm based on VMC which integrates the spatial and temporal constraints on the trajectory level, and the comparative experiments illustrate that VMC based algorithm is more efficient than GPM based direct collocation method in tackling the CTOCP.