Path planning method for UAV formation maintenance

Abstract

The present invention discloses a route planning method for UAV formation maintenance. First, the formation direction angle is defined to describe the formation orientation, and a formation model is established based on the relative position relationship between the UAVs and the formation direction angle; then the formation direction angle and the formation direction angular velocity are used as state variables, and the thrust and normal acceleration of the UAV when turning are used as constraint variables to construct an optimal control problem; based on the pseudo-spectral method, the optimal control problem is discretized into a nonlinear programming problem, and then the nonlinear programming problem is solved to calculate the change curve of the formation direction angle during the formation turning process, so as to obtain a slave route that meets the dynamic constraints. The present invention overcomes the problem that the slave is constrained by its own dynamics and cannot maintain the formation due to the rapid turning of the host under the framework of the traditional pilot-following method, and can solve the slave route that meets both the dynamic constraints and the formation maintenance requirements, thereby increasing the stability of the solution and having high solution accuracy.