Planar-Sector LOS Guidance for Interception of Agile Targets with Lifting-Wing Quadcopters
Linkai Liu, Kun Yang, Han Zou, Chen Min, Shuli Lv, Shuai Wang, Quan Quan
Abstract
This paper proposes a Planar-Sector Line-of-Sight (PS-LOS) guidance law and an accompanying control stack for lifting-wing quadcopters, enabling robust image-based interception of agile targets. The PS-LOS relaxes conventional conical constraints, preserving maneuverability while reducing aerodynamic penalties. For perception, we employ a delay-compensated Extended Kalman Filter (EKF) to provide low-latency, continuous target estimates. The controller is tailored to lifting-wing quadcopter dynamics and includes coordinated-turn compensation. Outdoor flight experiments demonstrate interceptions against unpredictable agile targets up to 138 m, validating the method's range and robustness.