Time-varying group formation tracking for UAV swarm systems with collision avoidance

Aiming at the tracking and control problem of UAV swarm formation, it has important application value in civil fields such as environmental monitoring, disaster rescue, regional logistics Based on the consensus control theory, this paper proposes an unmanned aerial vehicle (UAV) group formation tracking control method with a collision avoidance mechanism. The designed control approach is verified on the Matlab simulation platform respectively. A physical verification is built by using motion capture as external positioning system, and the physical flight of the Tello UAV swam system is carried out. The results verify the effectiveness of the designed UAV group formation tracking control method with a collision avoidance mechanism.