Aiming at route planning of UAV cluster under various threats, this paper proposes a cluster control method and periodic bilevel optimization algorithm. Based on a fixed-point arrival mission, a cluster dynamic control model is constructed by combining d-norm, impact function and inverse function, which can realize Reynolds rules. A periodic bilevel optimization algorithm is designed to solve the route planning problem of central UAV. Eeffectiveness of the model and feasibility of the optimization algorithm are verified by simulation examples. Compared with the hybrid genetic algorithm ie. artificial potential field algorithm, the periodic bilevel optimization algorithm has a higher efficiency and better optimization effect.

UAV  /  cluster route planning  /  military simulation