%0 Journal Article
%T UAV Formation Flight Based on Nonlinear Model Predictive Control
%A Zhou Chao
%A Shao-Lei Zhou
%A Lei Ming
%A Wen-Guang Zhang
%J Mathematical Problems in Engineering
%D 2012
%I Hindawi Publishing Corporation
%R 10.1155/2012/261367
%X We designed a distributed collision-free formation flight control law in the framework of nonlinear model predictive control. Formation configuration is determined in the virtual reference point coordinate system. Obstacle avoidance is guaranteed by cost penalty, and intervehicle collision avoidance is guaranteed by cost penalty combined with a new priority strategy.
%U http://www.hindawi.com/journals/mpe/2012/261367/