Multiple UAVs/UGVs heterogeneous coordinated technique based on Receding Horizon Control (RHC) and velocity vector control

Multiple unmanned air vehicles (UAVs)/unmanned ground vehicles (UGVs) heterogeneous cooperation provides a new breakthrough for the effective application of UAV and UGV. On the basis of introduction of UAV/UGV mathematical model, the characteristics of heterogeneous flocking is analyzed in detail. Two key issues are considered in multi-UGV subgroups, which are Reynolds Rule and Virtual Leader (VL). Receding Horizon Control (RHC) with Particle Swarm Optimization (PSO) is proposed for multiple UGVs flocking, and velocity vector control approach is adopted for multiple UAVs flocking. Then, multiple UAVs and UGVs heterogeneous tracking can be achieved by these two approaches. The feasibility and effectiveness of our proposed method are verified by comparative experiments with artificial potential field method.