Circle formation experiment via quadrotor UAVs

This paper gives an experimental verification for circle formation indoors. A circle formation platform is constructed by quadrotor UAVs, which consists of the UWB positioning system, the control system of quadrotor UAVs and the ground station. The Kalman filter is used to achieve the stable and accurate results of ultra-wideband (UWB) positioning. A leader-following control law of circle formation is realized by using the yaw angle velocity of each follower. Experimental results show that the positioning errors are less than 20 cm and at the same time the random error is less than 3 cm. Two cases, that is, the stationary leader and the moving leader, are under consideration, which indicates that all followers achieve the circle formation motion successfully.