A Formation Control Strategy of Quadrotor UAV Study Based on MIQP Cluster Track Method

In this paper, obstacle avoidance and obstacle avoidance trajectories of four UAVs are calculated based on the four-rotor UAV cluster planning theory based on MIQP (mixed integral quadratic planning).Articles from QP (quadratic programming), MIQP theory is introduced to obtain, in turn, this paper introduces the single frame four rotor unmanned aerial vehicle (uav) tracks, single frame four rotor unmanned aerial vehicle (uav) obstacle avoidance, double unmanned aerial vehicle (uav) obstacle avoidance path, the obstacle avoidance path between pairs of unmanned aerial vehicle (uav) machine, as well as multiple unmanned aerial vehicle (uav) between machine and calculation theory of obstacle avoidance algorithm verification, verify the algorithm validity in four rotor unmanned aerial vehicle (uav) trajectory planning problems. Based on the default physical parameters of common quadrotor assembly configuration in PIXHAWK flight control system, this paper ensures the effectiveness of cluster trajectory and lays a foundation for the next real flight and larger cluster control..