Trajectory Planning of Morphing Aircraft Based on the Probability of Passing through Threat Zones
A trajectory planning method is proposed for morphing aircraft with threat zones overlapped and full coverage of flight paths,which involves the probability of passing through the threat zone and optimiza-tion of variable shape parameters.Based on the idea of hierarchical reinforcement learning,a hierarchical reinforcement learning model for route decision of morphing aircraft is established by configuring the flight environment set,decision options,cost function,Q function and strategies within the options.By training the evaluation network,it can make route decisions for actual scenarios based on the probability of passing through the threat zone.According to the characteristics of the variable shape of the aircraft,the obtained decision results are optimized by parameters to obtain the full process travel trajectory and aircraft shape.The simulation results show that this method can make real-time flight route decisions based on actual situa-tions,and the trajectory and the flight form in overall procedure can be obtained after optimization.
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