Flexible Terminal Constraints Based Optimal Strategy for Multiple UAVs Formation Transformation

This paper addresses the issue of unmanned aerial vehicle (UAV) formation transformation and designs optimal control for the flight trajectories of UAVs. We utilize the differential flatness of rotary-wing UAVs to construct a cost function, which approximate by using polynomial splines to simplify optimization. Flexible terminal constraints are designed to achieve dynamic switching requirements for mobile formations. A penalty function is applied to transform the constrained state into an unconstrained one. The breadth first search (BFS) is employed for optimization. Finally, we validate the effectiveness of the designed optimal formation transformation strategy through numerical simulations.