A Method of Quadrotor UAV Formation Track Optimization Based on Adaptive Coyote Algorithm
Quadrotor UAV formation will perform multiple tasks in the flight process,and these tasks have different requirements for the formation track,leading to the long flying expedition of the formation,thus affecting the operational life sapa of quadrotor UAV.Therefore,an adaptive coyote algorithm is proposed to optimize the tack of quadrotor UAV formation.We establish double corrdinate axes,analyze the force situation of the adrotor UAV formation,calculate its posture angle,and build the kinematics model of the quadrotor UAV formation.The constraints are set according to the state variables of the quadrotor UAV formation.Using the repulsive force function of danger zone a-gainst quadrotor UAV,the formation path of quadrotor UAV is planned.The adaptive coyote algorithm is used to reduce the error between the expected distance and the actual distance of the quadrotor UAV formation,and realize the track optimization of the quadrotor UAV for-mation.The experimental results show that the proposed method has an average flight time of 8 seconds after optimization,which can effec-tively improve flight efficiency and achieve better optimization results.
NETL
NSTL
万方数据
