Hardware in the loop tests of the potential field based algorithm for formation flight control of unmanned aerial vehicles

Abstract

This paper presents the application of a new method for controlling the formation flight of Unmanned Aerial Vehicles. Proposed algorithm is based on the leader follower configuration and uses the potential field to determinate desired heading for the follower UAV. Synthesis of the vector field control algorithm is closely described and presented in details. Proposed control system was carefully checked and verified during Hardware in The Loop (HIL) tests. During the HIL flights the longitudinal and lateral positions of the UAVs (Leader and Follower), orientation angles (pitch, roll, yaw), angular velocities (pitch rate, roll rate, yaw rate) and many other flight parameters were stored and logged. Obtained results validate the effectiveness of the potential field based formation flight control method.