Multi-UAV Trajectory Planning during Cooperative Tracking Based on a Fusion Algorithm Integrating MPC and Standoff

In this paper, an intelligent algorithm integrating model predictive control and Standoff algorithm is proposed to solve trajectory planning that UAVs may face while tracking a moving target cooperatively in a complex three-dimensional environment. A fusion model using model predictive control and Standoff algorithm is thus constructed to ensure trajectory planning and formation maintenance, maximizing UAV sensors' detection range while minimizing target loss probability. Meanwhile, with this model, a fully connected communication topology is used to complete the UAV communication, multi-UAV formation can be reconfigured and planned at the minimum cost, keeping off deficiency in avoiding real-time obstacles facing the Standoff algorithm. Simulation validation suggests that the fusion algorithm proves to be more capable of maintaining UAVs in stable formation and detecting the target, compared with the model predictive control algorithm alone, in the process of tracking the moving target in a complex 3D environment.