Cooperative Attack Algorithm for UAV Swarm System Under Spatiotemporal Constraints

This paper proposes a cooperative attack algorithm for unmanned aerial vehicle swarm system that considers flight time and attack angle constraints. Firstly, a dynamic and kinematic model of the unmanned aerial vehicle swarm system was established, and a description of the problem of spatiotemporal cooperative attack was provided. Secondly, a strategy of virtual guidance points guiding unmanned aerial vehicle swarm system was proposed, and a cooperative attack trajectory with spatiotemporal constraints was obtained through the artificial potential field method. Thirdly, the model predictive control method was used to achieve real-time solution of the optimal control quantity, completing the cooperative attack task with spatiotemporal constraints. Finally, the real-time performance and effectiveness of the algorithm were verified through numerical simulations.