Quadrotor Formation Control Based on Geometric Method

To achieve a desired quadrotor formation, a formation control scheme based on leader-follower method is introduced. A geometric method is used for maintaining formation shape in the outer loop, the desired velocity and position are calculated in this method by acquiring position and yaw of the leader. The proportional integral derivative (PID) controller is used for inner loop control of quadrotor. Additionally, a proportional derivative (PD) outer loop controller is used to compared with the proposed method. The simulation of three quadrotors in the three dimensional environment shows that the proposed method is useful and more efficient than the PD control.