UAV Formation Flight Based on Nonlinear Model Predictive Control

Zhou Chao, Shao-Lei Zhou, Lei Ming and Wen-Guang Zhang

Mathematical Problems in Engineering, 2012, vol. 2012, 1-15

Abstract:

We designed a distributed collision-free formation flight control law in the framework of nonlinear model predictive control. Formation configuration is determined in the virtual reference point coordinate system. Obstacle avoidance is guaranteed by cost penalty, and intervehicle collision avoidance is guaranteed by cost penalty combined with a new priority strategy.

Date: 2012
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:261367

DOI: 10.1155/2012/261367

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