| Citation: | LIAO J，GAO X Y，YAN S，et al. Formation reconfiguration control of UAV swarm based on MPC-PIO[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1541-1550 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0398
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To realize security and accurate strikes under the battlefield environment with various obstacles, unmanned aerial vehicle swarm must possess the ability of self-formation reconfiguration. The unmanned aerial vehicle movement model and leader follower swarm formation control structure are established. The cost functions of unmanned aerial vehicle swarm formation control, obstacle avoidance and collision avoidance are proposed based upon the model predictive control (MPC) framework. The pigeon inspired optimization (PIO) algorithm is used to optimize the swarm formation reconfiguration control. Based on the results of numerical comparative simulations, the proposed algorithm has shown excellent performance in formation tracking error and optimization speed. The results indicate that the proposed algorithm is able to achieve autonomous formation reconstruction and significantly enhance the efficiency of the MPC method.
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