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.

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