@inproceedings{d4784d665bb742589989957f8aeb06fb,
title = "Flexible Terminal Constraints Based Optimal Strategy for Multiple UAVs Formation Transformation",
abstract = "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.",
keywords = "flexible terminal constraints, optimal control, penalty function, trajectory planning, UAVs formation transformation",
author = "Kaidan Li and Kewei Xia and Jianan Wang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023 ; Conference date: 24-11-2023 Through 27-11-2023",
year = "2024",
doi = "10.1007/978-981-97-3324-8_27",
language = "English",
isbn = "9789819733231",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "322--333",
editor = "Yongzhao Hua and Yishi Liu and Liang Han",
booktitle = "Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Optimization Technologies",
address = "Germany",
}