Cooperative Guidance with Collision Avoidance Based on Artificial Potential Field Method

In the process of cooperative guidance for multiple unpowered flight vehicles, not only the collision avoidance between the flight vehicles should be considered, but also completion of the cooperative guidance task should be taken into account. In this paper, to address the above complex issue, a cooperative guidance method with collision avoidance based on artificial potential field method and a decision strategy based on fuzzy logic thought are proposed. Firstly, a control law is designed to keep each flight vehicle flying at the same height in the longitudinal plane. Then, a collision avoidance guidance law based on the artificial potential field method in horizontal plane is designed by using the feedback linearization method. The cooperative guidance and collision avoidance decision strategy based on fuzzy logic is also designed to ensure that multiple flight vehicles can reach the target and maintain a safe distance during flight. The simulation results show that the proposed method can realize cooperative guidance and effective collision avoidance of multiple unpowered flight vehicles, with a simple guidance law form and strong engineering value.