Formation Transformation Based on Improved Genetic Algorithm and Distributed Model Predictive Control

In order to solve the problem of multiple aircraft formation transformation to a designated formation, a distributed formation transformation algorithm that decomposes the formation transformation problem into target-matching problems and trajectory-planning problems was studied. According to the actual formation transformation requirements, the target allocation index was proposed, and the improved genetic algorithm which is 23% better than other algorithms was used to achieve target matching. The adaptive cross-mutation probability was designed, and the population was propagated without duplicates by the hash algorithm. The multi-objective algorithm of distributed model predictive control was used to design smooth and conflict-free trajectories for the UAVs in formation transformation, and the trajectory-planning problem was transformed into a quadratic programming problem under inequality constraints. Finally, point-to-point collision-free offline trajectory planning was realized by simulation.