UAV formation flight using 3D potential field

The paper presents a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, it is universal applicable by driving the vehiclepsilas auto pilot. The solution is verified, using a group of UAVs based on a simplified small-scale helicopter, which is simulated in MATLABtrade/Simulinktrade. As necessary for helicopters, the potential field approach is realized in 3D including obstacle and collision avoidance. The collision avoidance strategy could be used separately for the sense and avoid problem.