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	飞行器位置初始状态		分配的目标	目标参数
飞行器编号	位置/m	速度/ (m·s^-1)	分配的目标	位置/m	速度/ (m·s^-1)
U₁	[1167,3067]	112	T₆	[6739,3847]	30
U₂	[1678,4305]	118	T₃	[7625,4390]	30
U₃	[1515,3897]	116	T₇	[6710,3475]	30
U₄	[1418,3140]	114	T₁₀	[7500,2800]	30
U₅	[1695,4177]	120	T₉	[7137,2887]	30
U₆	[1763,4363]	114	T₅	[6934,4166]	30
U₇	[1548,4378]	119	T₂	[7970,4247]	30
U₈	[1447,3598]	112	T₄	[7253,4361]	30
U₉	[1134,4234]	114	T₁	[8213,3963]	30
U₁₀	[2175,3445]	114	T₈	[6853,3130]	30

Table 5 Initial conditionsof UAV clusters and formation maneuvering 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
Table 4 Cooperative attack results of multiple UAV clusters on formation moving targets
Fig.14 Statistical results of the utility function offormation moving targets hit 1000 times
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