Cooperative guidance strategy with a leader-follower structure

The cooperative guidance design and analysis issues for multiple robots system are investigated. First, a cooperative guidance structure is constructed by leader layer robots and follower layer robots. Then, for the leader robot layer, the cooperative detection guidance law is designed to achieve the coordination of the detection field of view (FOV), while providing the reference trajectories. Third, for the follower robot layer, the time-varying line of sight (LOS) angle formation tracking guidance law is proposed based on the leader robots' LOS angle trajectories convex combination. In addition, the design process is given given. Finally, a cooperative guidance platform consisting of two leaders, three followers, and a target is constructed. The theoretical results are verified by numerical simulation examples, and experimental results are presented on the platform.