Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

Table 1

Parameters of enemy threat.

Parameter	Value
Coordinate and action distance of early warning radar	20 km
Coordinate, action distance, and angle of air defense radar	12 km
The first nonfly zone
The second nonfly zone
Distance of collision avoidance	500 m
The max communication distance	2 km