Formation method and flight test of multiple UAVs based on leader-follower pattern

To solve the problem that none of UAV (unmanned aerial vehicle) formation algorithms can be used in the real flight, a cooperative formation flight algorithm for two UAVs based on the leader-follower pattern is designed. Taking the distance between two UAVs as control object, the control orders are transformed into velocity, course and altitude orders. For the real formation flight, a ground control station (GCS) with double-serial ports is developed with the self-developed MUAV (mini-UAV) to implement double-serial ports and synchronize two UAVs' data. Tests on the ground and in the sky show that data transfer between two UAVs can be realized with the GCS, control orders can be sent precisely in real time, and the designed cooperative algorithm is valid.