Unmanned aerial vehicle close formation control based on the behavior mechanism in wild geese

This paper focuses on the study of multiple unmanned aerial vehicle (UAV) biomimetic formation control problem. It shows that the wild geese formation can save energy by analysing the behavior in the migration of wild geese. The bionic mechanism of multiple UAV formation has been discussed, and a formation keeping and toplogy changing controller based on the wild geese behavior mechanism has been designed. Simulation results are presented to show that the UAVs can form a stable flight formation due to the effect of the formation controller. With the model of the fuel consumption, the designed fomation can use the less fuel. The simulation verified the validity and stability of UAV close fomation control based on the wild geese behavior mechanism.