A Multi-UAV Formation Maintaining Method Based on Formation Reference Point

In recent years, Unmanned Aerial Vehicles (UAV), have been increasingly utilized by scholars. Efficient control of UAV swarms opens a set of new challenges. There are several formation control methods, however, artificial potential field (APF) method has imperfections in formation maintaining and virtual structure is insufficient in collision avoidance. In this paper, we proposed a multi-UAV formation maintaining method combined artificial potential field method and virtual structure approach. The method uses the concepts of attraction and repulsion in the artificial potential field method, combined with formation reference points inspired by the virtual structure points in the virtual structure approach to control the formation. On the other hand, we express the leaders, the followers, and the formation reference points uniformly. When the formation of UAVs is determined, after the leader arrives at target point and hovers, the followers can track the formation reference points. The method can avoid collision between UAVs and achieve the purpose of formation maintaining. Finally, a UAV swarm consists of four UAVs is used for demonstration and verification, and the results of experiment prove the validity of the algorithm.