Formation flight control method of multiple UAVs based on guidance route

To solve the problem of formation flight control of multiple unmanned aerial vehicles (UAVs), a coordinated control method based on guidance route was proposed. According to the position error between wingman's current location and desired location and the flight status of leader, guidance route was generated for wingman to track. In view of the sudden obstacles during flight, the method of changing formation configuration was used to avoid obstacles. For possible collisions between UAVs, according to UAVs' position and time of arrival at the collision point, UAV avoided collision from two aspects of height and heading. The simulation results demonstrate that using this method, UAV can maintain stable formations, and meanwhile be able to avoid the obstacles during the flight and avoid the collision between aircrafts.