Coordinated target assignment and intercept for unmanned air vehicles

This paper presents an end-to-end solution to the cooperative control problem represented by the scenario where M unmanned air vehicles (UAVs) are assigned to transition through N known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory generation; and 5) asymptotic trajectory following. The design technique is based on a hierarchical approach to coordinated control. Simulation results are presented to demonstrate the effectiveness of the approach.