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

Table 2

Initial state information and performance constraints of UAVs.

Number	Initial state	(m/s)	(m/s)	(rad/s)	Observation error (distance (m), angle (°))
1	(0, 0, 0, 100, 0)	100	10	0.35	[20, 0.3]
2	(1000, 0, 0, 100, 0)	100	10	0.35	[20, 0.3]
3	(2000, 0, 0, 100, 0)	100	10	0.35	[20, 0.3]
4	(−1000, 0, 0, 100, 0)	100	10	0.35	[20, 0.3]
5	(−2000, 0, 0, 100, 0)	100	10	0.35	[20, 0.3]