Trajectory Design for Cooperative Combat Missions

In this paper, a hierarchical method for trajectory design for cooperative combat missions (CCM) is presented. In a military environment, in addition to physical constraints (aircraft dynamics and mountains) there are threats made by radars or artillery. So an important constraint, "avoid threats", is added to physical constraints. Major steps in trajectory design are: "target assignment", "path planning", "path smoothing and trajectory design". The most important points and a brief algorithm for each step is presented in this paper. Finally the method is applied to special case and the results presented.