Interior Point Algorithm for Multi-UAVs Formation Autonomous Reconfiguration

Here the problem of designing multi-UAVs formation autonomous reconfiguration is considered. Combined with three kinds of cost functions, nonlinear dynamic equations, and four inequality constraints, one nonlinear multiobjective optimization problem is constructed. After applying weighted sum method and separating all equality or inequality constraints, the former nonlinear multiobjective optimization problem can be converted into a standard nonlinear single objective optimization problem. Then the interior point algorithm is applied to solve it. Further some improvements are proposed to avoid rank deficiency of some matrices. The equivalence property between multiobjective optimization and single objective optimization through weighted sum method is proved. Finally the efficiency of the proposed strategy can be confirmed by the simulation example results.