Trajectory Optimization of Multi-UAVs for Marine Target Tracking during Approaching Stage

This paper focuses on a coordinated tracking planning method of multiple unmanned aerial vehicles (UAVs), which was deployed in the best positions to better fulfill marine target localization tasks when approaching target. The optimal multi-UAVs implemented using an online centralized nonlinear model predictive control (NMPC) based state’s uncertainty criteria. penalty function is used solve UAV platform dynamic performance consider more realistic situation. problems are numerically simulated and compared with Lyapunov vector field guidance (LVFG) under classical mission scenarios. Simulation results demonstrate that algorithm can maintain observation configuration improve positioning accuracy, verifying feasibility superiority this method. Furthermore, simulation provide useful reference for flight law design configuration.