Layered Azimuthal Spatial Formation and Obstacle Avoidance for Multiple UAV

A new method for 3D visualization simulation of multi-UAV layered azimuthal formation and obstacle avoidance is proposed in this paper. Firstly, the azimuthal stiffness theory is applied to make the formation shape more stable. Secondly, a distributed formation control law for different layers of UAV s under the azimuthal stiffness theory is proposed, and a rigorous proof of system stability is provided. Thirdly, a UAV obstacle avoidance method based on artificial potential field is proposed to obtain the secure operating environment. Finally, a visualization simulation is carried out in Matlab to verify the formation and obstacle avoidance effect, and the simulation results illustrate the effectiveness of the method.