Behavior-based formation control of multi-missiles

A formation control approach for multi-missiles is presented in this paper. It integrates the lead-follower method into the behavior-based formation method to ensure the stability of formation. The missiles are divided into a leader and followers according to the lead-follower method. The behaviors of missiles contain flying to the destination, formation-hold, obstacle/collision avoidance, and then the appropriate one is chosen by the behavior inhibition selection mechanism. The behavior of flying to the destination of leader is achieved by using an optimal route planning algorithm which is based on tree topologic data and dynamic programming theory. The behaviors of formation-hold and obstacle/collision avoidance of followers are respectively achieved by using a global formation-hold control algorithm and obstacle/collision avoidance control algorithm. The digital simulation implemented has validated the effectiveness of the proposed method.