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Method of the Multi-UAV Formation Flight Control

The main issue that arises when considering multi-UAV formation flight in a group is that of collision probability. In this case, without human control involved, it is artificial intelligence that is responsible for flight performance in the airspace in such a way that collision is avoided. Taking into account a rapid increase in civil and military applications of UAVs, a collision avoidance algorithm is proposed based on artificial potential field method. This method makes it possible to detect a potential conflict between multiple vehicles and other static or moving obstacles found in airspace, to provide collision resolution by changing UAVs flight parameters through maintaining minimum separation distance, including cases when manned vehicles are found in the same airspace. There can be distinguished a wide range of obstacles: static non-moving objects or vehicles having different sizes or flight parameters (multi-rotor, fixed wing and single rotor UAVs), or a few UAVs of one type but with different types of hardware configuration, at the same time considering the possibility of flight performance in the same airspace with manned aircraft. Group formation keeps shape on the flight path, taking into account some ground speed restrictions and turn bank angle values according to UAV’s flight performance characteristics. The proposed method is used for multi-UAV control without any leader and provide multiple conflicts resolution, where each UAV is characterized by its protection zone.