Research Article
Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance
Figure 5
Simulation results for Case 1: (a) flight trajectories; (b) UAV-target distance under FxTCG; (c) UAV-target distance under DMPC-CG; (d) time-to-go under FxTCG; (e) time-to-go under DMPC-CG; (f) LOS angle under FxTCG; (g) LOS angle under DMPC-CG; (h) LOS angle rate under FxTCG; (i) LOS angle rate under DMPC-CG; (j) guidance command under FxTCG; (k) guidance command under DMPC-CG; (l) guidance command under FxTCG; (m) guidance command under DMPC-CG.
(a) |
(b) |
(c) |
(d) |
(e) |
(f) |
(g) |
(h) |
(i) |
(j) |
(k) |
(l) |
(m) |