Cooperative 4D Guidance for Multiple UAVs Based on Tensor Field
Zuqiang Yang, Chenglong Li, Guanghong Liu · 2018
This paper presents a four dimensional (4D) vector field guidance (VFG) method multiple unmanned aerial vehicles (UAVs) in time-constrained cooperative flight tasks. To guide a UAV approaching the desired position exactly at the certain arrival time, a time-synchronized VFG algorithm named tensor field is adopted. With the help of tensor field, a comprehensive 4D guidance method is designed for the cooperation of multiple UAVs. The conflicts between UAVs and obstacles are detected by Protected Airspace Zone, and the Physicomimetic algorithm is applied to make conflict resolution. To get optimal guidance performance, the tuning parameters of tensor filed are optimized by sequential quadratic programming. The proposed method is verified by a dynamic simulation where multiple UAVs cooperatively complete a challenging simultaneous arrival flight task.