A Multi-UAVs Formation Maneuver Control Method in Local Coordinate System

In this paper, we propose a distributed unmanned aerial vehicles (UAVs) formation maneuver control strategy to realize the expected formation and fly at the expected velocity in local coordinate systems. The method does not require that the UAVs have the same coordinate frame or a consistent sense of direction, only information about the relative position of neighboring aircrafts. The expected formation is defined by the distance and angle between the UAVs, and the desired formation maneuver is known only by a UAV called the leader. The UAVs will autonomously control their velocity to be consistent. The sensing topology between UAVs can be arbitrary changed. Simulations are performed to validate the proposed method.