Trajectory Optimization of Multi-UAVs for Marine Target Tracking during Approaching Stage

Table 1

Nonlinear model prediction control algorithm based on information entropy (IENMPC).

Current UAV	Communication	Coordinated UAV
Calculating optimal control of k time
Current state of UAV		Current state of coordinated UAV.
Observation information of sensor acquires		Observation information of sensor acquires .
Initialize control sequence , cost function , predicted number of steps , iteration step , , and
While		While
UAV state propagation [equation (3)]		.
Information matrix, target estimation state, jacobian matrix, and observation noise matrix were acquired through EIF. [equations (7)–(14)]		.
computation [equation (25) and (26)]		.
computation [equation (23)].
computation [equation (36)]		.
If ,		.
else		.
end		.
		..
end		End
Calculating the status of UAV at k + 1 time [equation (3)]
Calculating optimal control input of k + 1 time