Integration of A* Search and Classic Optimal Control for Safe Planning of Continuum Deformation of a Multiquadcopter System

This paper offers an algorithmic approach to plan continuum deformation of a multi-quadcopter system (MQS) in an obstacle-laden environment. We treat the MQS as finite number of particles of a deformable body coordinating under a homogeneous transformation. In this context, we define the MQS homogeneous deformation coordination as a decentralized leaderfollower problem, and integrate the principles of continuum mechanics, A* search method, and optimal control to safety and optimally plan MQS continuum deformation coordination. In particular, we apply the principles of continuum mechanics to obtain the safety constraints, use the A* search method to assign the intermediate configurations of the leaders by minimizing the travel distance of the MQS, and determine the leaders’ optimal trajectories by solving a constrained optimal control problem. The optimal planning of the continuum deformation coordination is acquired by the quadcopter team in a decentralized fashion through local communication.