Non linear controller and path planner algorithm for an autonomous variable shape formation flight

Abstract

A formation flight controller can be used in a UAS fleet to avoid collision, reduce fuel consumption, or to execute interactions between the UASs, such as autonomous aerial refueling. In this paper, an autonomous formation flight (AFF) controller based on non linear dynamic inversion (NLDI) and a non-colliding path planner are proposed. The proposed NLDI AFF extends a NLDI controller found in literature to account a maneuvering leader and time-varying shape formations. The proposed path planner generates a time-varying shape formation in which a set of followers flies from their initial relative position to their desired final one, via non-colliding paths. Simulation results show that the proposed controller tracks the trajectories generated by the path planner and achieves lower formation errors than the NLDI AFF controller found in literature.