Multi-aircraft Cooperative Horizontal Track Programming Algorithm Based on Convex Optimization Algorithm

Multi-aircraft cooperative horizontal trajectory planning refers to finding the optimal trajectory of the objective function under specific constraints. Because many complex constraints exist, the objective function to be optimized is non Convex function, and many constraints are non convex constraints, the horizontal track planning problem of multiple aircraft is generally a non convex optimization problem with multiple constraints, and the optimal solution of this optimal control problem is very difficult to find. In this paper, a Convex optimization method is proposed to solve the cooperative horizontal path planning problem of multiple aircraft. The original non convex optimization problem is transformed into a Convex optimization problem after being processed by Convex optimization. The algorithm has the function of solving complex optimization problems. The simulation results show that the optimal solution of the problem can be obtained in a relatively short time by applying the Convex optimization algorithm to solve the coordinated horizontal path optimization problem of multiple aircraft. Compared with other optimization algorithms, the optimization time of the algorithm can be increased to more than 95%, which has good applicability and very high engineering application value.