UAV Formation Reorganization Method Based on Virtual Pilotage and Artificial Potential Field

Aiming at the problems of low obstacle avoidance efficiency, inflexible formation changes, and poor formation stability in multi-UAVs formation reorganization, a reorganization method integrating the virtual pilotage method and artificial potential field method is proposed. The global desired trajectory is planned using the virtual pilotage method, while the repulsive force between UAVs and environmental obstacles is dynamically adjusted via the artificial potential field method to achieve obstacle avoidance. The Hungarian algorithm is introduced to optimize task allocation, enabling rapid formation reconfiguration along the shortest path. A controller based on the Lyapunov function is designed, and theoretical analysis demonstrates that the formation state converges to the desired trajectory. Simulation results show that the proposed method guarantees the smoothness and robustness of formation flight while simultaneously achieving effective obstacle avoidance and formation reorganization.