Formation Control of Multi-UAV with Collision Avoidance using Artificial Potential Field

To solve the problem of obstacle collision and inner collision during the formation flight, we propose an artificial potential field (APF) approach and employ it to the formation controller, which is based on the passivity-based control. Furthermore, we apply the concept of centroid to set consensus mission velocity, which ensures that each unmanned aerial vehicle (UAV) is navigated to the target set. Finally the proposed methodologies are proved to be effective in Matlab simulation.