考虑多无人机在实际飞行过程中的避障需求，在建立面向控制的四旋翼无人机轨迹姿态模型基础上，为克服传统多无人机为每架无人机规划轨迹的不足，研究了基于多无人机中心点的轨迹设计策略。进一步，考虑避障约束，基于半定规划进行迭代区域扩张完成了多无人机的安全飞行区域及队形设计。在此基础上，基于干扰补偿策略为每架无人机设计了协同控制器，最终确保了多无人机在多障碍环境下的安全飞行。
Considering the collision avoidance and obstacle avoidance requirements during the flight process of multi-UAVs, on the basis of the establishment of the trajectory attitude model of four-rotor UAVs, this paper proposes the trajectory design strategy based on the central point of the cluster UAVs to avoid the deficiencies in the planning trajectory for each UAV of traditional cluster UAVs. Furthermore, in view of the obstacle avoidance constraints and the iterative regional expansion based on the semi-definite program, the safe flight area and formation design of the cluster UAVs are completed. Subsequently, based on the disturbance compensation strategy, a distributed cooperative controller is designed for each UAV, finally ensuring the safe flight of multiple UAVs in a complex multi-obstacle environment.
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