Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method

The quadrotor has a dynamics with strong nonlinearity, and path planning for quadrotors in obstacle environment will be a complex multi-constraint optimization problem. Based on the pseudo-spectral method, this paper transforms the optimal control problem with complex constraints into a nonlinear programming problem. To improve solving efficiency, the distributed solution is adopted, and the Nash optimal coordination strategy is adopted to ensure the optimality of the whole system. The simulation results show that this method can complete the optimal path planning for quadrotors formation under complex multi-constraint conditions.