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.


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    Title :

    Flexible Terminal Constraints Based Optimal Strategy for Multiple UAVs Formation Transformation


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Hua, Yongzhao (editor) / Liu, Yishi (editor) / Han, Liang (editor) / Li, Kaidan (author) / Xia, Kewei (author) / Wang, Jianan (author)

    Conference:

    Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023



    Publication date :

    2024-06-15


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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