Unpowered Gliding Vehicle Cooperative Trajectory Feature Point Planning Methodology

This paper addresses the problem of unpowered gliding vehicle (UGV) cooperative trajectory planning with cluster rendezvous, impact time and terminal heading angle constraints. Based on the dichotomous iterative method and the master-slave cooperative scheme, the trajectory feature points of the cooperative control strategy of UGVs are quickly obtained. The real-time formation transformation for the cluster in the quasi-balanced gliding state of the re-entry segment and the trajectory feature point planning are realized for the multiple attacking angle coordinated against the target. The results of simulation demonstrate the rapidity and feasible of the proposed cooperative trajectory planning method for UGV within a certain range.