Design of a Leader-follower Formation Flying System Using Real Local Information

This paper presents a leader-follower formation flying system using real local information. We propose a vision-based pan-tilt color tracking system and range sensor to obtain local information. Our approach relies on detecting color marker mounted on the leader UAV to measure the relative angles between two UAVs. We use the range sensor for measuring the relative distance based on the time of flight of radio signals. The UAV hardware platforms are developed to obtain the real local information using our approach. The controller and software system of the pan-tilt color tracking system are also designed. Based on obtained local information, which are measured by the designed hardware system, formation control law is designed for the leader-follower formation flying. Experimental results show that the designed system and controller are able to carry out the leader-follower formation flying using real local information.