Obstacle Avoidance and Formation Regrouping for Follower UAV in Leader-Follower Formation

Currently, multi UAVs formation is very hot. Since it can greatly increase task efficiency. UAV formation has many research points like trajectory optimization, formation holding, formation optimal configuration, formation switch, obstacle avoidance, and formation regrouping, etc. But in our paper, we mainly focus on follower UAV obstacle avoidance and formation regrouping. Firstly, we propose an obstacle avoidance algorithm which mainly used on follower UAV. Secondly, we introduced PX4's position controller which used for formation regrouping. To the end, we make some simulations to verify the obstacle avoidance strategy, PX4's position controller and UAV formation.