Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance

Algorithm 2

Pseudocode of PSO algorithm.

1:  // Initialization

2:  Set the parameters of the algorithm: , , , , population size , the maximum number of iterations , and maximum number of invalid iterations .

3:  Randomly generate the initial positions of particles , , which include the assumed control input sequence .

4:  Randomly generate the initial velocities of particles .

5:  Initialize the current iteration as and number of invalid iterations as .

6:  // Main loop

7:  while do

8:   for := 1 to do

9:     Correct using (91)

10:     Correct and obtain , with algorithm 1

11:     Calculate using (90)

12:     Determine the individual best position

13:   end for

14:   Determine the global best position

15:   Record the global best fitness value at current iteration

16:   if then

17:     

18:   else

19:     

20:   for := 1 to do

21:     Update the position of particle as , using (88)

22:     Update the velocity of particle as , using (89)

23:   end for

24:   Update the current iteration as

25:  end while

26:  Determine the optimal control input sequence at as

27:  //Results

28:  return