Research on Cooperative Path Planning and Formation Control for Multiple UAVs

Considering the background of Multi-UAVs formation cooperation, a Cooperative Multi-Swarm Particle Swarm Optimization (CMS-PSO) scheme as well as a prescribed performance control (PPC) method is introduced. Firstly, the cost function is developed and a novel CMS-PSO approach is applied to deal with three dimensional (3D) path planning problem. Then, the nonlinear mathematical formation model is given. So as to confine the location differences of the formation system, a PPC algorithm integrated with the backstepping methodology is constructed in details. In the end, the results of mathematical simulations show the validity of the introduced path algorithm and control method.