Multi-uav model predictive flight formation control method under narrow space

Abstract

This invention discloses a multi-UAV model predictive flight formation control method in confined spaces, belonging to the field of multi-UAV formation control. The main steps are as follows: When the UAV formation encounters loose obstacles, each UAV can autonomously calculate an obstacle avoidance path based on a local MPC objective function to achieve self-obstacle avoidance; after the UAVs have established a safe distance from the obstacles and are determined to have completely avoided the obstacles, they automatically return to normal formation; when the UAV formation faces a confined space and needs to avoid obstacles, a dynamic event triggering function sends a control signal to the MPC according to preset triggering conditions, adjusting the distance and angle parameters for formation consistency in the MPC, driving the formation to switch to a form suitable for the confined space to complete the crossing; after the formation passes through the obstacles and reaches a safe distance, the dynamic event triggering function further controls each UAV to sequentially return to the initial or target formation, realizing a mechanism for the coordinated work of obstacle avoidance by the dynamic event triggering function and obstacle avoidance by the MPC.

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