Receding Horizon Control for UAV Formation Reconfiguration: An Enhanced Marine Predators Strategy

The uncrewed aerial vehicle (UAV) formation reconfiguration problem, due to its various limitations and high nonlinearity, has become a significant challenge in UAV formation. The existing methods mainly convert the problem into a constrained global optimization problem using control parameterization and time discretization (CPTD). This method, however, overlooks possible constraints on global optimization and the fact that solving the optimization problem itself can be difficult and time-consuming. In this paper, we firstly comprehensively considered the constraints in the UAV formation reconfiguration and proposed a problem model closer to real-world conditions. Then, we propose a new heuristic algorithm, the enhanced marine predators algorithm (EMPA) to address the constrained optimization problem, which has stronger optimization capability and greater stability when solving high-dimensional nonlinear problems. Finally, to decrease the computation cost, a more accurate and real-time receding horizon controller is designed based on the proposed EMPA, where the global optimal control problem of UAV formation reconfiguration is decomposed into a series of online local optimization problems. Simulation experiments verify the feasibility and effectiveness of the proposed control method.