Coordinated Formation Guidance Law for Fixed-Wing UAVs Based on Missile Parallel Approach Method

This paper presents a classic missile-type parallel-approach guidance law for fixed-wing UAVs in coordinated formation flight. The key idea of the proposed is to drive each follower follow virtual target point. Considering turning ability follower, form adopts semi-perfect rigid form, which does not require vehicle positions formation, and orientations keep consensus. According mission characteristics following leader route, three laws straight, turning, circling flight are designed. A series experiments demonstrate law’s improved response maneuvering stability. results hardware-in-the-loop simulations real tests prove that satisfies practical UAV control demands.