Non-cooperative drones pose a serious threat to low-altitude safety, and traditional countermeasures for drones struggle to effectively handle the safe recovery of non-cooperative drones. This paper proposes a countermeasure method for tracking and capturing non-cooperative drones using multiple drones. The trajectory of the non-cooperative drones is predicted based on Bézier curves. Based on the predicted trajectory, the center of the drone formation is treated as a virtual leader, and a real-time trajectory planning method for the formation center is proposed, considering visibility constraints in obstacle-rich environments for capturing dynamic targets. Subsequently, affine transformations are utilized to alter the formation shape, enhancing the ability to navigate through narrow areas, so as to ensure the safe flight of the UAV group and the stable tracking and acquisition of the target. Finally, simulations conducted in various obstacle environments demonstrate the feasibility of the proposed method.
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