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

Figure 7

Simulation results for Case 1: (a) flight trajectories; (b) time-to-go under MPC-DG; (c) time-to-go under DMPC-CG; (d) minimum UAV-obstacle distance under MPC-DG; (e) minimum UAV-obstacle distance under DMPC-CG; (f) guidance command under MPC-DG; (g) guidance command under DMPC-CG; (h) guidance command under MPC-DG; (i) guidance command under DMPC-CG; (j) LOS angle under DMPC-CG; (k) LOS angle rate under DMPC-CG; (l) average computation duration under DMPC-CG.

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