A Fixed-Wing UAV Formation Algorithm Based on Vector Field Guidance

The vector field method was originally proposed to guide a single fixed-wing Unmanned Aerial Vehicle (UAV) towards desired path. In this work, non-uniform is that changes in both magnitude and direction, for the purpose of achieving formations UAVs. As compared related work literature, formation control law does not need assume absence wind. That is, due effect wind on UAV, one can handle UAV air speed being different from its ground speed, heading angle course angle. Stability analyzed via Lyapunov stability theory, validations are carried out software-in-the-loop hardware-in-the-loop comparative experiments. Note Practitioners—The experiments, which done with PX4 autopilot software hardware, show be implemented board UAVs integrated architecture existing suites. Comparisons standard algorithms effective path scenarios.