Lyapunov Vector Field Based Guidance Algorithm for Standoff Target Tracking by Formation Flight

This paper deals with the formation of multiple fixed-wing Unmanned Aerial Vehicles (UAVs) for standoff target tracking. The formation of all the UAVs is made to function as a single rigid UAV and which is operated by commanding a virtual UAV imagined to be at the centre of the formation. A new Lyapunov vector field based guidance algorithm is proposed to Control the virtual UAV for the tracking the targets, both stationary and moving. The algorithm also ensures continuous curvature near optimal path generation, which is hitherto unexplored as the solution available in the existing literature is of discontinuous curvature. The work finds a solution to the practical problem caused by the inherent deficiency of a single UAV e.g. the limitation of the sensor coverage, data integrity and sudden break down etc., especially in a critical mission. Finally, simulation results of both formation flight and standoff target tracking of the UAVs are illustrated to demonstrate the efficacy of the guidance law.