中文摘要：

四旋翼无人机编队轨迹优化是实现高精度跟踪控制的基础。本文研究四旋翼无人机编队轨迹优化问题,首先建立非线性四旋翼无人机模型,并对模型进行简化与参数获取;再考虑四旋翼无人机编队之间的避撞约束、状态量约束及控制输入量约束;最后采用可自适应选点的hp自适应伪谱法将最优控制问题转化为非线性规划问题进行求解。仿真结果表明,hp自适应伪谱法可以对于求解6架四旋翼无人机编队的轨迹优化问题具有良好的效果,能够满足工程实际的约束要求。

英文摘要：

Quad-rotor UAV formation trajectory optimization is the basis of high precision tracking control. To study quad-rotor UAV formation trajectory optimization, firstly a nonlinear quad-rotor UAV model is built and simplified, meanwhile the model parameters are obtained. Then the collision avoidance problem, state variable constraints and control variable constraints are considered. Finally, an hp- adaptive pseudospectral method that selects the discrete points adaptively is used to convert the optimal control problem to a nonlinear programming problem. Simulation result shows that the method has good effect on the optimal trajectory of a research object composed of six quad-rotor UAVs, while satisfying the engineering requirements.