Three-dimensional cooperative guidance strategy for heterogeneous vehicles without prior communication topology establishment

This study proposes a novel heterogeneous vehicle cooperative guidance law, named HKGG. This guidance law integrates the proportional navigation law (PNG) and the Hegselmann-Krause (HK) model, enabling multiple vehicles to self-organize and reach the target point in groups based on their own states. Firstly, a three-dimensional overload model for multiple flying-vehicles is established. Then, by deriving the combination form of the PNG term and the consensus algorithm through the vehicle-target model on a two-dimensional plane, normal and lateral guidance commands are derived based on the HK model and the estimation of the remaining flight time of the multi-vehicles. The proposed strategy does not require prior establishment of a communication topology, and the communication relationships between vehicles are time-varying. By employing the proposed strategy, the multi-vehicle system can significantly enhance its capability to strike high-defense/multi-interception facilities. Various simulation scenarios were considered to verify the effectiveness of the proposed control strategy.