Segmented guidance method for multi-UAVs cooperative attack with spatio-temporal constraints

This paper presents a segmented guidance method for multi-UAVs (unmanned aerial vehicles) cooperative attack with spatio-temporal constraints, and successfully implemented in the flight tests. First, the uniform distribution of UAVs around the target is completed through cooperative path planning and tracking in the mid-course phase. The path planning method for cooperative arrival is proposed based on Dubins curve, and the guidance strategy for circular formation flight enables the UAVs to accurately track the reference points which are evenly distributed on the circle. Second, the terminal guidance law in 3D space with impact time cooperation is proposed during the cooperative attack stage, which would further eliminate the accumulated deviation. Finally, simulations and field flight tests for coordinated attack are carried out, which show the effectiveness of the proposed method.