Flexible Formation and Obstacle Avoidance for Multi-UAV System via Nutcracker Optimization and Trajectory Control

This paper proposes a flexible formation and obstacle avoidance scheme for a multi-drone system. The compound task of the two assignments is transformed into a trajectory tracking issue through path planning based on the nutcracker optimization algorithm (NOA) under a weighted communication topology. The dynamics of UAV is established to build a fully actuated error system. By designing the control law, the goal of trajectory tracking is achieved. Stability analysis and proof are provided together with simulation verification of a six-drone team to verify the effectiveness of the proposed methods.