关键词: 无动力滑翔飞行器, 编队控制, 协同控制, 航迹规划

Abstract: Proposed a real-time cooperative trajectory planning method for a cluster of unpowered gliding vehicles based on a leader-follower architecture. The method is designed to address the requirements for formation changes, impact time constraints, and entry angle restrictions during flight, while also adapting to the needs of online applications. The trajectories of the vehicles are first decoupled into longitudinal and lateral planes, and a segmented function-based angle-of-attack velocity profile method is developed to manage the nonlinear constraints encountered during the re-entry phase. A cooperative control method, based on time-varying heading angles, is then proposed, which involves solving differential equations to generate a trajectory that satisfies both impact time and entry angle constraints under quasi-equilibrium glide conditions. An online adjustment strategy is further introduced to accommodate real-time updates to the target area, with the feasibility of this approach for online application being demonstrated. Simulation results indicate that the proposed method can achieve real-time cooperative trajectory planning across various flight scenarios, demonstrating robustness, adaptability to multiple cooperative control schemes, and practical applicability to unpowered gliding vehicle clusters.

Key words: unpowered gliding vehicle, formation control, coordinated trajectory, path planning