Trajectory optimization of quad-rotor UAV formation using hp-adaptive pseudospectral method
BoYuan ZHANG, Qun Zong, Hanchen Lu, Shikai Shao · Scientia Sinica Technologica · 2017
The quad-rotor UAV formation trajectory optimization is the basis of high precision tracking control. Researching the problem of quad-rotor UAV formation trajectory optimization, firstly the nonlinear quad-rotor UAV model is built and simplified, meanwhile the model parameters are obtained; then the collision avoidance, the state variables constraints and the control varibles constraints are considered; finally the hp-adaptive pseudospectral method that select the discrete points adaptively is used to convert the optimal control problem to be a nonlinear programming problem. The smulation results shows, taking six quad-rotor UAV for research objects, the optimal trajectory has a good effect whiling satisfying the engineering requirements.