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A densely distributed network radar system compensates for the disadvantages of sparse radars and poses a significant threat to low-altitude penetration by an unmanned combat aerial vehicle (UCAV). Unlike previous studies, this paper aims to consider radar blind areas and proposes a rapid online method for planning low-altitude penetration paths.

First, the optimization problem coupling digital elevation map (DEM), radar detection probability model and nonholonomic UCAV kinematic model is established. Second, an online solution framework of penetration path planning is constructed. An intervisibility method and map scaling are proposed to generate a detection probability map (DPM). Through completeness and consistency analysis, an adaptive hybrid A* algorithm with fast local replanning strategy is proposed to search a path that takes into account time-consuming, detection probability under nonholonomic constraints. Finally, three scenarios of multiple known, pop-up and vanished static radars are simulated using C++. The computational performance is compared and analyzed.

The results showed that the proposed online method can generate low-detection-probability penetration paths within subseconds.

This paper provides a new online method to plan UCAV penetration trajectory in military and academic contexts.