Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC

<table class="algorithm-group"><tr><td><table class="algorithm" id="alg3"><tr><td colspan="2">The process of this algorithm is completely consistent with that of Algorithm <a href="../alg2/">2</a>. On the basis of Algorithm <a href="../alg2/">2</a>, (1) the desired vector <svg height="16.2892pt" id="M338" style="vertical-align:-5.9935pt" version="1.1" viewbox="-0.0498162 -10.2957 20.0609 16.2892" width="20.0609pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.138,-5.944)"><path d="M410 152L393 124C355 58 321 44 251 44H187C264 179 330 297 407 428L398 442H153C114 441 100 447 92 463H70C60 419 44 357 30 308L60 295L77 328C106 384 130 399 197 399C214 399 232 399 249 399C173 265 106 147 24 16L37 0H392C404 31 420 82 439 138L410 152Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.138,3.784)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.686,3.784)"><path d="M397 380C406 395 404 411 396 425S369 451 350 451C302 451 239 372 192 294H189L199 338C214 407 207 451 180 451C152 451 83 405 30 345L48 318C87 354 117 372 125 372S135 362 127 324L55 -5L61 -12C87 -5 117 3 139 5C154 87 168 162 179 207C198 250 240 310 260 332C281 355 297 366 307 366C321 366 333 360 347 346C351 342 360 342 369 348C379 355 389 366 397 380Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,13.595,5.885)"><path d="M798 93L780 124C747 88 714 75 706 75C699 75 699 79 706 108L752 301C786 442 748 454 723 454C697 454 685 448 656 433C617 413 538 363 464 262H462L471 298C504 429 469 454 440 454C409 454 394 449 368 435C319 408 245 343 179 257H177L197 341C214 413 214 454 181 454C153 454 90 421 25 344L43 314C57 332 106 375 118 375C127 375 129 374 121 336C97 225 67 111 32 -6L42 -12C66 -5 95 2 122 6L160 166C192 225 325 384 381 384C403 384 405 375 390 295C371 194 348 91 323 -6L327 -12C347 -6 379 3 407 6C417 61 432 125 445 170C479 232 607 384 659 384C679 384 690 370 677 322L616 88C600 26 608 -12 640 -12C667 -12 736 23 798 93Z"></path></g></svg> is replaced with the <svg height="14.2393pt" id="M339" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -10.2957 17.6459 14.2393" width="17.6459pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.138,-5.944)"><path d="M410 152L393 124C355 58 321 44 251 44H187C264 179 330 297 407 428L398 442H153C114 441 100 447 92 463H70C60 419 44 357 30 308L60 295L77 328C106 384 130 399 197 399C214 399 232 399 249 399C173 265 106 147 24 16L37 0H392C404 31 420 82 439 138L410 152Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.138,3.784)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.686,3.784)"><path d="M781 91L765 118C733 86 702 70 693 70C686 70 685 77 692 106L738 297C772 439 736 451 712 451S675 445 647 431C605 410 526 356 452 257H450L459 294C491 426 459 451 429 451C403 451 386 445 361 431C312 404 239 343 170 253H168L188 333C208 411 205 451 175 451C148 451 85 417 24 346L39 318C57 338 100 374 112 374C120 374 122 372 115 339C91 226 62 112 28 -6L37 -12C59 -4 87 3 114 6C125 68 142 127 154 168C184 227 316 383 372 383C397 383 396 366 381 289C362 192 338 92 312 -6L317 -12C339 -5 367 3 396 6L434 170C468 234 598 383 650 383C668 383 676 369 664 319L609 90C593 23 600 -12 629 -12C654 -12 722 23 781 91Z"></path></g></svg> in the offline stage. (2) Optimization problem 5 and problem 3 are multi-objective solved in Step 2.</td></tr></table></td></tr></table>

<div> The steps for solving the optimization problem 5.</div>

International Journal of Aerospace Engineering

alg3

Algorithm 3

Algorithm 3: Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC 