Abstract：Quad-rotor UAV formation trajectory optimization is the basis of high precision tracking control. To study quad-rotor UAV formation trajectory optimization, firstly a nonlinear quad-rotor UAV model is built and simplified, meanwhile the model parameters are obtained. Then the collision avoidance problem, state variable constraints and control variable constraints are considered. Finally, an hpadaptive pseudospectral method that selects the discrete points adaptively is used to convert the optimal control problem to a nonlinear programming problem. Simulation result shows that the method has good effect on the optimal trajectory of a research object composed of six quad-rotor UAVs, while satisfying the engineering requirements.
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2017, Vol. 35 
