Error Dynamics-Based Guidance Law for Target Observation using Multiple UAVs with Phase Angle Constraints via Evolutionary Algorithms

In this study, an error dynamics-based guidance law is proposed for target observation by using multiple unmanned aerial vehicles (UAVs). In addition, a guideline for determining the suitable gains of multiple UAVs is proposed to consider phase angle constraints. The guidance law is designed using the characteristics of distance error dynamics, and a guideline for gain tuning that considers the phase angle between UAVs is proposed using an evolutionary algorithm. Guidance gains affect the turning direction and convergence to the standoff distance error of UAVs. Therefore, it is significantly important to choose suitable guidance gains for accomplishing missions effectively. In this paper, a guideline for gain tuning is proposed considering the line-of-sight rate of UAVs and phase angle constraints. Numerical simulations are performed to demonstrate the performance of the proposed guidance law.