UCAV Formation Online Collaborative Trajectory Planning Using<i> hp</i> Adaptive Pseudospectral Method

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3719762/figures/3719762.fig.0018a.svgz" name="3719762.fig.0018a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>change rate of attack angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3719762/figures/3719762.fig.0018b.svgz" name="3719762.fig.0018b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>change rate of sideslip angle</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3719762/figures/3719762.fig.0018c.svgz" name="3719762.fig.0018c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>change rate of roll angle</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3719762/figures/3719762.fig.0018d.svgz" name="3719762.fig.0018d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>throttle</td></tr></table>

<div>Control variables of replanned trajectories in case 1.</div>

Mathematical Problems in Engineering

fig18

Figure 18

Figure 18: UCAV Formation Online Collaborative Trajectory Planning Using<i> hp</i> Adaptive Pseudospectral Method 

Mathematical Problems in Engineering

UCAV Formation Online Collaborative Trajectory Planning Using hp Adaptive Pseudospectral Method

Figure 18