A convex optimization based method for multiple UAV autonomous formation reconfiguration
Yin Wang, Daobo Wang, JianHong WANG · Scientia Sinica Technologica · 2017
In this paper, we present a novel solution to the multi-UAV formation autonomous reconfiguration problem based on a convex optimization technique. In the proposed method, the UAV formation is maintained under the flight dynamics of the UAV and enviromental constraints. A nonlinear multi-objective optimization model is constructed. After applied weighted sum method and separated all equality or inequality constraints, the former nonlinear multi-objective optimization model can be converted into a standard nonlinear single objective optimization model. Then the interior point algorithm which comes from operations research is used to solve the optimization problem. To avoid rank deficiency of some matrix, some improvements in realizing the interior point algorithm are proposed. Further the equivalence property between the multi-objective optimization and single objective optimization model through weighted sum method is proved. Finally, the efficiency of the proposed strategy can be confirmed by the simulation example results.