Verification Platform for Formation Method Based on Quad-rotor UAV

Cooperative work based on multi-UAV is the development trend in the UAV field. The work efficiency and the completion rate of tasks can be greatly improved through collaborative work of multiple UAVs. In this paper, a verification platform for UAV formation method is established, which consists of three quad-rotor UAVs and a ground control system working as a monitoring and command center. An open source UAV flight control system named Pixhawk is adopted by the quad-rotor UAVs, and the minicomputer named Raspberry Pi 3 is used to simulate the On-board computer running the formation algorithm and executing the tasks. This paper verified the feasibility and effectiveness of the UAV formation algorithm based on artificial potential field method through the verification platform established by itself.