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

Table 2

Initial states of UAVs.

Index	Initial position (m)	Initial velocity (m/s)	Initial flight path angle (°)	Maximum and minimum normal overload (m·s^-2)	Maximum and minimum tangential acceleration (m·s^-2)
1	(-6000, 0)	400	45	200, -200	200, -200
2	(0, -6000)	400	45	200, -200	200, -200
3	(6000, -6000)	400	67.5	200, -200	200, -200
4	(-6000, 6000)	400	22.5	200, -200	200, -200