Model Predictive Control with Reference Path Planning for Multi-UAV Formation Control System

In this paper, we propose a multi-UAV formation control system in obstacle-filled environments. Our design consists of two key components, which are the formation path planning algorithm and the model predictive control (MPC) for quadrotor agents. The proposed path planning algorithm generates a safe reference path for the formation center and secure waypoints for each agent to minimize pattern deformation. The designed MPC controller helps agents track the reference trajectory and maintain formation using data from neighboring agents. Our system also processes sensor data and models surrounding obstacles for the environment instead of only considering the scenarios with a known environment. Several simulation examples are provided to demonstrate the feasibility and effectiveness of the proposed design.