Coordinated formation guidance law of fixed-wing unmanned aerial vehicles based on parallel approach method
Aiming at developing a semi-perfect rigid formation with high flexibility,a law based on the leader-follower mode for the low-speed fixed-wing unmanned aerial vehicles(UAV)is proposed.The formation law takes a lot of inspiration from the parallel approach method which has been widely used in missile guidance.The formation flight of the UAV is realized by using the vehicles to pursue the virtual target.Considering the mission characteristics of the route following,three navigation measures,including straight flight,turning and circling are designed.Through the method of the semi-hard-constraint formation,the cooperation of the flight is strengthened as well as the hard constraint of the course angle is released.In addition,an algorithm based on the requirement of the formation pattern and relative position of the leader and follower is proposed.The algorithm can get the virtual target in real-time and is evaluated in the aspect of the speed of response and stability.The effectiveness of the formation guidance law is validated using the hardware-in-loop simulation and flight test.
dynamic position trackingcooperative formationsemi-perfect rigid formationsparallel approach methodflight verificationsemi-physical simulationcooperative guidance law
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