Cooperation strategy of unmanned air vehicles for multitarget interception

An optimal approach to deal with cooperation problems for a group of UAVs to intercept multiple targets was presented. A waypoint-based path planning was proposed by creating a Delaunay weighted tree and searching for an optimal path in the tree with the minimum fuel expenditure and risk level. A cost-based objective function is designed for optimizing the resource-target assignment, which combines threat and length costs of paths, as well as force and spread costs of the team. A simulation of a cooperation mission by a six-UAV team was performed to validate the effectiveness of the proposed approach.