Optimal Formation Control for Quadrotors with Collision Avoidance Based on Dynamic Constraints

This paper studied the optimal formation control of quadrotor UAV based on the dynamic model, and the collision avoidance between quadrotors is considered. By constructing the problem into a standard convex quadratic programming problem, we hope to improve the solving efficiency of the formation control problem. Firstly, the nonlinear dynamic model of quadrotor is linearized and the prediction model is established. Then, the safety zone constraints are transformed from a circular zone to a half-plane zone, making the optimization problem be a standard convex quadratic programming problem. Finally, the quadratic programming problem is solved using distributed receding horizon optimization. Numerical simulations in three-dimensional space show that this method can obtain the optimal formation trajectory with collision avoidance, and can improve the solving efficiency.