Consensus-Based Multi-UAV Formation Control with Collision Avoidance

A consensus-based multiple unmanned aerial vehicles (multi-UAV) formation control algorithm with collision avoidance is proposed in this study. Particularly, graph theory is applied to represent the communication connection between UAVs. Then, the longitudinal and lateral controllers are designed taking into account the position differences and collision factors between adjacent UAVs. The height and yaw controllers are designed considering the height and yaw angle differences. Furthermore, the convergence of the presented formation controllers are verified by using Lyapunov theory. The proposed controllers can not only ensure the consensus of position and heading of UAVs, but also avoid the collision between UAVs in formation. Finally, the convergence and collision avoidance performance of the presented controllers are certified through numerical simulation.