UAV formation flight control and formation switch strategy

During the formation flight time, the Unmanned Aerial vehicles (UAVs) have to transform their flight formation in many cases, such as environmental change, the modification of the task and some UAV's leaving of the formation. During the time to change the formation, the most important thing is to avoid UAVs crash into each other, then, they should finish the transformation process in certain time. This paper firstly focuses on the UAV formation keeping by using Proportion Integration Differentiation (PID) control method. Secondly, several control strategy are designed for formation transformation. Then, use the above methods to complete the formation transformation. Finally, the effectiveness of UAVs formation transformation is taken into account by simulated verification and comparative analysis.