OARPER-MAFO algorithm for anti-ship missile path planning

In order to quantitatively describe the space of path planning, the concept of operational area of anti-ship missile path planning is proposed based on geometric principles, and the geometrical essence of path planning is investigated as well. Furthermore, the formal definition of path planning is provided by utilizing set theory. In order to avoid path crossing, the region division model is proposed and solved. The geometric gradual transformation law is discovered when applying the concept of operational area to the process of converse path planning. And the path performance constraints are considered into the process of converse path planning, to reduce the searching space and improve the efficiency of path point extending. Barriers are evaded by OARPER (operational area restriction polar extending recursively) method, which generates superior path trees. Finally, the required path is obtained by the method of multi-attribute fuzzy optimization (MAFO). Simulation results demonstrate that the computing complexity is low and the computing speed is fairly fast. Moreover, the acquired paths are well consistent with the flight characteristic of anti-ship missiles. As a result, our algorithm is very suitable for practical applications.