%0 Journal Article %A LIU Jia %A QIN Xiaolin %A XU Yang %A ZHANG Lige %T Multi-unmanned aerial vehicle adaptive formation cooperative trajectory planning %D 2020 %R 10.11772/j.issn.1001-9081.2019112047 %J Journal of Computer Applications %P 1515-1521 %V 40 %N 5 %X

Aiming at the problem of neglecting some narrow roads due to the formation constraints in the multi-UAV (Unmanned Aerial Vehicle) cooperative trajectory planning, a Fast Particle Swarm Optimization method based on Adaptive Distributed Model Predictive Control (ADMPC-FPSO) was proposed. In the method, the formation strategy combining leader-follower method and virtual structure method was used to construct adaptive virtual formation guidance points to complete the cooperative formation control task. According to the idea of model predictive control, combined with the distributed control method, the cooperative trajectory planning was transformed into a rolling online optimization problem, and the minimum distance and other performance indicators were used as cost functions. By designing the evaluation function criterion, the variable weight fast particle swarm optimization algorithm was used to solve the problem. The simulation results show that the proposed algorithm can effectively realize the multi-UAV cooperative trajectory planning, can quickly complete the adaptive formation transformation according to the environmental changes, and has lower cost than the traditional formation strategy.

%U http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2019112047