关键词: 高速安全穿越, 狭窄通道, 编队变换和保持, 混合整数线性规划, 非线性优化

Abstract: To address the problem of enabling a multirotor UAV formation to traverse narrow passages at high speed while maintaining a formation configuration as close as possible to the initial one, we propose a multi-stage safe formation transformation strategy. First, the center of the UAV formation is treated as a virtual leader. Considering the kinematic constraints of the UAVs, a smooth, high-speed, and obstacle-avoiding trajectory for the virtual leader, along with a safe flight corridor for the entire formation, is generated using mixed-integer linear programming. Then, based on the safe flight corridor and the virtual leader's trajectory, a new formation configuration is computed that avoids both external and internal collisions while preserving the initial configuration as much as possible. Subsequently, with the obtained formation configuration and the virtual leader trajectory, the desired trajectory of each UAV is computed in a distributed manner. A distributed algorithm that combines nonlinear optimization with cooperative time reallocation is further proposed to optimize the UAV trajectories such that high-speed flight and formation maintenance are achieved under kinematic constraints. Simulation results demonstrate that the proposed method enables the UAV formation to traverse narrow passages safely and at high speed while maintaining a configuration close to the initial one.

Key words: high-speed and safe traversal, narrow passages, formation transformation and maintenance, mixed-integer linear programming, nonlinear optimization