Distributed Model Predictive Formation Control for UAVs and Cooperative Capability Evaluation of Swarm

作者：Ming Yang, Xiaoyi Guan, Mingming Shi, Bin Li, Chen Wei, Ka-Fai Cedric Yiu · 发表于：Drones · 年份：2025 · DOI：10.3390/drones9050366 · 被引用次数：8

This paper utilizes the distributed model predictive control (DMPC) method to investigate the formation control problem of unmanned aerial vehicles (UAVs) in the obstacle environment and establishes cooperative capability evaluation metrics of the swarm. Based on the DMPC approach, the formation cost function is constructed to adjust the relative positions and velocities of UAVs, ensuring the desired formation. Additionally, to address the obstacle avoidance problem in the formation, the obstacle avoidance function is designed to provide safe formation control in the obstacle environment. To evaluate the cooperative capability of UAVs, we design evaluation metrics from multiple dimensions to reflect the swarm’s cooperative capability. Finally, the simulation results show the effectiveness of the formation control method with obstacle avoidance and the applicability of the swarm’s cooperative capability evaluation metrics.