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

Algorithm 2

The steps for solving the optimization problem 4.

The process of this algorithm is completely consistent with that of Algorithm 1. On the basis of Algorithm 1, (1) add the weight parameter , convergence speed parameter , and desired vectors and in the offline stage. (2) Obtain the assumed position , and assumed state , in Step 1. (3) Simultaneously solve optimization problems 4 and 3 in Step 2. (4) Calculate in Step 3 and send and to UAV and , respectively.