Research on Strategy of Keeping Multi-UAVs Flight Formation Based on Distribution Method

Abstract

Concerning the strategy of keeping multi-UAVs flight formation based on distribution method, first, large-scale multi-UAVs formation is divided into numerous two-UAV sub-formations in the way of “hierarchy”. Then, lead and wing aircraft control approach is adopted in sub-formations, i.e., UAVs in the formation are classified into lead and wing aircrafts, which are complementary to each other. In this way, formation control is thus realized by controlling wing aircrafts that track the lead aircraft. The close connection of sub-formations also constitutes a tracking chain–UAV i tracks UAV i-1. Finally, multi-UAVs formation flight is realized.