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

Table 6

Simulation results for Case 1.

Index	MPC-DG			DMPC-CG
	Miss distance (m)	Error of LOS angle (°)	Interception time (s)	Miss distance (m)	Error of LOS angle (°)	Interception time (s)
1	2.2121	—	35.5212		0.0216	35.5241
2	2.4485	—	35.5210			35.5241
3	2.1738	—	35.5199			35.5241
4	2.3300	—	35.5215		0.0166	35.5242