Optimal reconfiguration of UAVs in formation flight

Reconfiguration of unmanned-aerial-vehicle (UAV) formation is one of most important step in field operation of UAV systems. Guidance law for reconfiguration of UAV is needed to satisfy requirements of optimality and constraints of short computational time. This paper describes rules of Dijkstra algorithm based on the optimal trajectories. Calculation results show that the proposed algorithm provides almost mean value of optimal trajectory. The algorithm is useful to generate reference trajectory for minimum time reconfiguration of UAV formation.