Formation Flight Control of Multi-UAV System Using Neighbor-based Trajectory Generation Topology

TL;DR

This paper presents a distributed control method for multi-UAV formation flight that dynamically generates trajectories based on neighbor interactions, enabling effective formation maintenance and trajectory tracking.

Contribution

It introduces a neighbor-based trajectory generation topology for leader-follower UAV formations, allowing online trajectory planning during flight.

Findings

Successful simulation with quadrotors demonstrates formation accuracy.

Topology achieves robust formation control and trajectory following.

Method adapts to dynamic neighbor information during flight.

Abstract

In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in the formation. The trajectory of each agent is planned during execution depending on its neighbors and considering that the desired reference trajectory is only given to the leader. Simulation using MATLAB/SIMULINK is done on a formation of quadrotor UAVs to illustrate the proposed method. The topology shows very good results in achieving the formation and following the reference trajectory.