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	T₆	32.1923	51.4519	0.6017
U₂	T₃	44.3185	51.4306	0.7211
U₃	T₇	112.7838	51.4988	0.5318
U₄	T₁₀	32.1923	51.6006	0.4136
U₅	T₉	36.2378	50.2988	0.9050
U₆	T₅	36.2379	50.4994	0.7721
U₇	T₂	37.7222	51.4375	0.6565
U₈	T₄	124.3851	51.4425	0.6433
U₉	T₁	129.7452	51.4744	0.9967
U₁₀	T₈	252.9497	52.6544	0.5169

Table 6 Cooperative attack results of multiple UAV clusters on 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
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
Fig.17 Statistical results of the utility function of formation maneuvering targets hit 1000 times