A Rule-Based Approach for Controlling UAVs Formation Flight

Abstract

In this paper, we formulate the problems of forming a desired structure and controlling the obtained formation for a group of unmanned aerial vehicles (UAVs). Two general solution schemes of the formulated problems are proposed, and the mathematical apparatus for forming and controlling the desired formation is given. First scheme implies the optimal assignment of UAVs to goal positions in the desired formation, collision avoidance by sequential modification of the basic plan and planning ideal trajectories. As an alternative scheme, we propose to apply Kohonen network algorithm extended by a mechanism for detecting collisions. When necessary trajectories are obtained, an original rule-based approach is applied that comes down to pursuing a target, which simulates the reference flight. Each UAV in a group implements behavioral strategies for maintaining formation flight and avoiding collisions in the restless atmosphere. In the experimental part, we present simulation results of controlling the formation of several unmanned aerial vehicles.