Cluster collaborative deployment method based on distributed optimal energy MPC

The invention discloses a cluster collaborative deployment method based on distributed optimal energy MPC, and the method achieves the collaborative deployment of an unmanned aerial vehicle group through the ad hoc network communication of a plurality of unmanned aerial vehicles and the autonomous generation of a control instruction by each unmanned aerial vehicle. According to the cluster collaborative deployment method based on the distributed optimal energy MPC, an optimal control equation is established based on the distributed model predictive control method, and a suboptimal analytical solution is obtained by solving a Hamiltonian equation, so that the calculation amount of the optimization process is greatly reduced, the generation of a real-time track is realized, the method has the advantages of no need of central server control, large number of cluster unmanned aerial vehicles, high unmanned aerial vehicle density and the like. 本发明公开了一种基于分布式最优能量MPC的集群协同部署方法，通过多个无人机自组网通讯，各无人机自主生成控制指令，实现无人机群的协同部署。本发明所