Abstract: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, mak… Show more
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