Software in the Loop Simulation of Formation Flying of Multi Rotor UAV

Formation flying control methods in multi-UAV systems have different strategies, each method have its own advantages and disadvantages, Minimize the weaknesses of each technique are quite interesting and difficult. The two important and commonly used methods are leader-follower approach and another based on way points received from a ground station. Formation flying using software in the loop simulation (SITL) provides a platform to test and evaluate control algorithm before implement into the real-time environment. This paper discusses implementation of both leader-follower method and waypoint navigation in software in the loop simulation. Finally the results of various formations are discussed.