Acta Armamentarii

Unmanned Aerial Vehicle Cluster Cooperative Guidance Technology Based on Conflict Trigger Mechanism

HAN Yu;SONG Tao;ZHENG Duo;LIU Xin

Acta Armamentarii, 2023, 44(7): 1881-1895. DOI: 10.12382/bgxb.2022.0152

飞行器编号	打击的目标	机间最短距离/m	到达时间/ s	脱靶量/ m
U₁	T₅	170.8413	52.7156	0.8003
U₂	T₈	30.3548	52.7175	0.8848
U₃	T₄	30.3548	52.7138	0.4068
U₄	T₁	188.3557	52.7194	0.2794
U₅	T₂	99.0358	52.7150	0.9716
U₆	T₆	38.1245	52.7306	0.5067
U₇	T₉	30.9024	52.7194	0.3841
U₈	T₇	249.4957	52.7144	0.5970
U₉	T₁₀	91.5536	52.7338	0.8639
U₁₀	T₃	30.9024	52.7225	0.3765

Table 4 Cooperative attack results of multiple UAV clusters on formation moving targets

Other figure/table from this article

Fig.1 Aircraft collision avoidance process
Fig.2 Schematic diagram of UAV collision
Fig.3 Angle tracking process
Fig.4 Tangent constraint diagram
Fig.5 Tangent constraint solution
Fig.6 Maneuver strategy selection
Fig.7 Unsolvable case
Fig.8 Cooperation and collision avoidance process
Table 1 Initial conditionsof UAV clusters and decentralized fixed targets
Fig.9 Trajectory of UAVs with decentralized fixed targets
Fig.10 Shortest distance between aircrafts when attacking fixed targets
Table 2 Cooperative attack results of multiple UAV clusters on decentralized fixed targets
Fig.11 Statistical results of the utility function of fixed targets hit 1000 times
Table 3 Initial conditions of UAV clusters and formation moving targets
Fig.12 Trajectory of UAVs with decentralized formation moving targets
Fig.13 Shortest distance between aircrafts when attacking formation moving targets
Fig.14 Statistical results of the utility function offormation moving targets hit 1000 times
Table 5 Initial conditionsof UAV clusters and formation maneuvering targets
Fig.15 Trajectory of UAVs with decentralized formation maneuvering targets
Fig.16 Shortest distance between aircrafts when attacking formation maneuvering targets
Table 6 Cooperative attack results of multiple UAV clusters on formation maneuvering targets
Fig.17 Statistical results of the utility function of formation maneuvering targets hit 1000 times