Multiple UAVs Formation Flight Experiments Using Virtual Structure and Motion Synchronization
Norman Li, Hugh H. T. Liu · 2009
In this paper, the synchronized position tracking controller is incorporated in formation flight control for multiple flying wings. With this technology, the performance and effectiveness of the formation controller are improved when the virtual structure approach is utilized to maintain formation geometry in simulations. It is desirable to run flight tests with the controller to study its performance in real flight scenarios. Thus, the formation controller is implemented on wireless enabled GumStix computers integrated onboard the UAVs to perform the coordinated formation flight. Flight experiments are conducted on two flying wing UAVs and the results verify the performance improvement from incorporating the synchronized position tracking strategy in the formation controller.