Research Article
Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance
Algorithm 1
Pseudocode of the position correction for each particle.
1: for := 0 to do | 2: Calculate and using (3) and (4) | 3: Calculate ,,,, | , | , according to (40)~(44) and ~(87) | 4: Correct applying , where | , | | 5: Recalculate according to (4) | 6: Correct applying , where | , | 7: Let , be the corrected | 8: Calculate applying (78). | 9: end for | 10: Return the corrected and |
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