UAV formation pathtracking method based on vector field

Path following algorithm plays a crucial role in UAV formation control, and this paper designs a UAV formation path tracking method based on Vector field (VF) to solve the stable path following problem of UAV formation. Firstly, the UAV dynamics model under time-varying wind speed was established, and the tracking algorithm of single UAV linear trajectory and circular trajectory based on vector field was designed, and its convergence was proved. Then, the error dynamic model between the follower UAV and the leader UAV under the leader-follower structure is constructed, and the UAV formation vector field path tracking algorithm is designed by combining the single UAV vector field path tracking algorithm, and the stability analysis of the formation tracking guidance law is carried out. Finally, the relevant path following simulation and semi-physical simulation is carried out, and results show the proposed method can complete the stable tracking of straight paths, circular paths and combined paths in the environment with or without wind field.