Abstract
Unmanned Aerial Vehicle (UAV) is applied in various military and civil fields. UAVs in formation can improve the ability and efficiency of UAV system. In this paper, we present the UAV formation flight control based on the Artificial Potential Field (APF). We improve the method by considering the velocity status information, defining the dynamic safe distance and modifying the potential force. To demonstrate the method, two simulations are conducted, which test the performance in collision avoidance among the obstacles in environment and collisions among UAVs.
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