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Research status and development of multi UAV coordinated formation flight control

ZONG Qun;WANG Dandan;SHAO Shikai;ZHANG Boyuan;HAN Yu;School of Electrical Engineering and Automation,Tianjin University;School of Electrical Information Engineering,Tianjin University;  
It is well known that unmanned aerial vehicle( UAV) is more and more widely applied in military and civil areas. In order to play the better role of UAV,it is needed to utilize multi UAVs cooperative formation to accomplish cooperative reconnaissance,combat,defense and spraying pesticides and other tasks. The multi UAVs cooperative formation control technology mainly contains the following key techniques: data fusion technology,sensing technology, task allocation technology, path planning technology, formation control technology,communication network technology and virtual/physical verification platform technology. Firstly,summarize the research and development of key technologies worldwide. Then,the classification for multi UAVs formation control methods is mainly investigated,and the problems about formation design and adjustment,formation reconfiguration are summarized. Finally, the challenges and future development for multi UAV cooperative formation are prospected. Research shows: at present,the theory of multi UAV formation flight has acquired fruitful results,while the real cooperative formation flight test can only be implemented in the simple communication environment.The real time performance for task allocation and path planning is not high. The robustness of control methods to cope with the unexpected situation is low. The cooperative sensing ability for multi UAV with multi sensor is insufficient. The simulation of the entity is lacked. Breaking through the above key technologies,carrying out the cooperative formation flight of multi UAV in complex sensing constraints and complex communication environment,putting forward more effective control method and carrying out the UAV physical formation flying test so that the UAV can finish the task better may be the future research directions.
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