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FOLLOWUP MOTION CONTROL METHOD OF MOVING FORMATION TARGET
FOLLOWUP MOTION CONTROL METHOD OF MOVING FORMATION TARGET
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机译：运动编队目标的跟进控制方法
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摘要
PURPOSE:To permit the control of the movements of individual targets so as not to become monotonous by a method wherein the position of the other target is operated by a displacement attitude and a given distance from a tracking point to control the other target so as to followup one target among a formation. CONSTITUTION:A followup target TGT1 is following while keeping a distance L1 from a tracking point P1 and another followup target TGT2 is following while keeping a distance L2 from the other tracking point P2. When a main target TGT0 has moved, the tracking points P1a, P2a of the followup targets TGT1, TGT2 under a condition of a position T0a and an attitude psi0 are operated to operate a position apart from the tracking point P1a on a straight line connecting the position T1 of the followup target TGT1 and the checking point P1a by the distance L1, then, the followup target TGT1 is moved to a position T1a while a position T2a apart from the tracking point P2a on a straight line connecting the position T2 and the tracking point P2a by the distance L2 is operated to move the followup target TGT2. At the same time, angles psi1a, psi2a in the direction of yawing are operated to change the attitude of the followup targets TGT1, TGT2. As a result, a formation, constitut ed of a plurality of targets, can be controlled so that the movements of individual targets will never become monotonous.
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