Multi-rotor UAVs Formation Control and Avoidance Technology Based on Ad-hoc Network Strategy

This paper uses five six-rotor UAVs as research objects, and focuses on the research of ad-hoc network, which is based on multi-rotor UAV's organization, maintain, reconstruction and obstacle avoidance. It takes flight test of the multi-rotor UAV's organization, which is based on ad-hoc strategy and the flight of anti-collision formation control system. The test results show that the formation of centralized control system has a stable and reliable way about communication and multi-vehicle formation. The latter is based on the optimization of single vehicle successfully tested formation construction, maintain, reconstruction and the anti-collision function in transforming formation's process. It has important reference value in engineering implementation for multi-rotor UAV's formation technology.