Dual-Level Trajectory Planning for Hypersonic Flight with Multiple No-fly Zones

A dual-level trajectory planning method is proposed for the trajectory planning of hypersonic vehicles with no-fly zone constraint. To improve the efficiency of the trajectory planning, the method is designed in two levels: the first level is the heading planning, and the second level is the trajectory planning. For the first level, a rapid heading planning method is proposed based on the graphical model of no-fly zones, and the evaluation of the avoidance heading is based on the simplified lateral dynamics equation. The second level introduces the avoidance heading constraint and the fitness with self-seeking, and thus the trajectory planning model can quickly generate a trajectory that satisfies the constraints. Finally, the proposed dual-level planning method is validated by simulations of hypersonic flight with multiple no-fly zones. The results show that the proposed method is capable to generate flight trajectories in high efficiency.