Research Article
Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance
Table 5
Obstacles’ positions and radiuses.
| | Index of case | Index of obstacle | Center position (m) | Radius (m) |
| | 3 | 1 | (0, 2000) | 2000 | | 2 | (6000, 1000) | 1500 | | 3 | (-2000, 7000) | 1500 |
| | 4 | 1 | (1000, 0) | 1400 | | 2 | (5000, 1000) | 1000 | | 3 | (7500, -1000) | 1500 | | 4 | (-1000, 2000) | 1000 | | 5 | (0, 7000) | 800 | | 6 | (4000, 5000) | 1200 | | 7 | (11000, 1000) | 900 |
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