Leader - Follower based Formation Guidance Law and Autonomous Formation Flight Test of Multiple MAVs

편대 유도 법칙 및 초소형 비행체의 자동 편대 비행 구현

  • Received : 2010.10.14
  • Accepted : 2011.01.05
  • Published : 2011.02.01


This paper presents an autonomous formation flight algorithm for micro aerial vehicles (MAVs) and its flight test results. Since MAVs have severe limits on the payload and flight time, formation of MAVs can help alleviate the mission load of each MAV by sharing the tasks or coverage areas. The proposed formation guidance law is designed using nonlinear dynamic inversion method based on 'Leader-Follower' formation geometric relationship. The sensing of other vehicles in a formation is achieved by sharing the vehicles' states using a high-speed radio data link. the designed formation law was simulated with flight data of MAV to verify its robustness against sensor noises. A series of test flights were performed to validate the proposed formation guidance law. The test result shows that the proposed formation flight algorithm with inter-communication is feasible and yields satisfactory results.


Supported by : KAIST


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