Multi-UAVs close formation control based on wild geese behavior mechanism

This paper focuses on the problem of multiple unmanned aerial vehicles (UAV) biomimetic formation control, which wild geese collective behavior is based on. Wild geese can realize long distance flight by effectively utilizing the upwash airflow in formation flight to save energy. The bionic mechanism of multiple UAVs formation is discussed, and kinematic model of UAVs based on the wild geese behavior mechanism is designed. In order to reduce the fuel consumption, the quadratic optimal control is introduced into the design of formation controllers. A numerical simulation is carried out and the simulation results show that the UAVs can form a stable close flight formation under the proposed UAVs close formation controller based on the wild geese behavior mechanism.