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

Table 7

Simulation results for Case 2.

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	2.6746	—	35.5210	0.0146	0.0117	35.5243
2	2.3191	—	35.5213		0.0316	35.5242
3	2.6041	—	35.5219		0.0182	35.5242
4	1.9049	—	35.5184		0.0185	35.5245