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Formation Transformation Based on Improved Genetic Algorithm and Distributed Model Predictive Control
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DOI：10.3390/drones7080527.png)
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摘要
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In order to solve the problem of multiple aircraft formation transformation to a designated formation, a distributed formation transformation algorithm that decomposes the formation transformation problem into target-matching problems and trajectory-planning problems was studied. According to the actual formation transformation requirements, the target allocation index was proposed, and the improved genetic algorithm which is 23% better than other algorithms was used to achieve target matching. The adaptive cross-mutation probability was designed, and the population was propagated without duplicates by the hash algorithm. The multi-objective algorithm of distributed model predictive control was used to design smooth and conflict-free trajectories for the UAVs in formation transformation, and the trajectory-planning problem was transformed into a quadratic programming problem under inequality constraints. Finally, point-to-point collision-free offline trajectory planning was realized by simulation.
Keyword:
distributed model predictive control
formation transformation
target matching
trajectory planning
期刊
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4.8
论文数:
3.9K
被引数:
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