Predefined-Time Fixed-Wing Vehicle Swarms Coordinated Surrounding of High-Mobility Targets

In this paper, the predifined-time coordinated surrounding of high-mobility targets for fixed-wing vehicle swarms is studied and an efficient surrounding formation planning and multi-vehicle cooperative guidance is realized by combining the Dubins algorithm, particle swarm optimization (PSO) algorithm and time-varying high gain approach. Firstly, the mathematical model of fixed-wing vehicle swarms surrounding domain and high-mobility target escape domain is established based on Dubins algorithm. Secondly, the optimal surrounding formation planning and design algorithm is designed by PSO algorithm. Finally, the spatial and spatiotemporal coordinated guidance law is designed based on time-varying high-gain feedback approach, which ensures that the vehicle swarms complete the surrounding task within the predefined time. Compared to the existing results, the proposed method is able to accomplish the surrounding task within the specified time while maintaining high cooperative position and angle accuracy.