This paper addresses the issue of unmanned aerial vehicle (UAV) formation transformation and designs optimal control for the flight trajectories of UAVs. We utilize the differential flatness of rotary-wing UAVs to construct a cost function, which approximate by using polynomial splines to simplify optimization. Flexible terminal constraints are designed to achieve dynamic switching requirements for mobile formations. A penalty function is applied to transform the constrained state into an unconstrained one. The breadth first search (BFS) is employed for optimization. Finally, we validate the effectiveness of the designed optimal formation transformation strategy through numerical simulations.
Flexible Terminal Constraints Based Optimal Strategy for Multiple UAVs Formation Transformation
Lect. Notes Electrical Eng.
Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023
Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control ; Chapter : 27 ; 322-333
2024-06-15
12 pages
Article/Chapter (Book)
Electronic Resource
English
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