Time-varying formation dynamics modeling and constrained trajectory optimization of multi-quadrotor UAVs

The formation of multi-quadrotor UAVs (QUAVs) in long flights will encounter many constraints and obstacles the flight process, so it is necessary to change shape avoid these constraints. When path QUAVs individually optimized, multiple individual dynamic problems be faced, making solution complicated spending a time. In this paper, as whole instead individuals considering QUAVs, regarded rigid body using Voronoi graph theory method process. followed are transformed into leader QUAV. Therefore, for different by changing virtual structure or shape. A time-varying model established facilitate use optimization. energy consumption UAV within specified time minimized trajectory optimization objective. improvement end heading height proposed. QUAV based on Gauss pseudospectral proposed, transforming original optimal control problem nonlinear programming one. simulation results demonstrate verify proposed method.