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