Abstract

Aiming at the UAV formation flight problem under purely azimuthal passive conditions, this paper establishes a geometric relationship model, a UAV positioning method for circular formations in two different cases, and a formation position adjustment method under a slight deviation of the UAV position. In order to minimize the number of adjustments, an optimization model with the objective of minimizing the number of adjustments is established, and the validity of the model is verified. The results show that the proposed method can achieve better UAV positioning and formation position adjustment, and this method can provide reference for other UAV swarms in similar situations.

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