Distributed Optimal Formation Control with Collision Avoidance

To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.