Distributed Hovering Formation Method based on Multi-objective Trajectory Optimization for UAVs

A novel distributed formation algorithm based on multi-objective trajectory optimization is proposed for unmanned aerial vehicle (UAV) hovering formation. The formation problem is transformed into maintenance of the hovering distance and standoff distance. And the desired cruise speed and steering rate are incorporated to ensure flight stability. All expected values of objectives are fuzzified as fuzzy parameters and the relaxation variables are introduced as optimization parameters to address language preference differences among objectives. Thus a multi-objective optimization (MOO) model under parameter ambiguity and language preference is constructed. On the basis, the UAV distributed formation trajectory optimization method is developed by combining the MOO model with the receding horizon optimization. Finally, the performance of the proposed algorithm is demonstrated in the simulation.