Research Article

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

Table 6

Simulation results for Case 1.

IndexMPC-DGDMPC-CG
Miss distance (m)Error of LOS angle (°)Interception time (s)Miss distance (m)Error of LOS angle (°)Interception time (s)

12.212135.52120.021635.5241
22.448535.521035.5241
32.173835.519935.5241
42.330035.52150.016635.5242