Abstract: To perform the advantages of multiple agents in air combat, a method of trajectory planning based on the convex optimization algorithm, for manned/unmanned cooperative system is proposed. Firstly, the architecture and control flow of the cooperative system are analyzed, and the motion model of the system is established. Secondly, the flight path planner and the formation planner are designed according to the characteristics of the manned aerial vehicle (MAV) and unmanned aerial vehicle (UAV) in the system, and the spatial-temporal constraints are introduced into the formation planner. Then the model of the two planners is approximated and convexified, and the convex optimization algorithm is chosen to solve the problem. Finally, the effectiveness of the proposed method is verified by numerical simulations. The results show that the model can be commendably solved by the convex optimization algorithm. Meanwhile the flight safety and transformation flexibility of the system can be improved by adding the synergetic spatial-temporal constraints.

Key words: MAV/UAV, Cooperative system, Convex optimization, Trajectory planning, Spatial-temporal constraints