Research on autonomous control technology of group formation imitating the behavior of geese flock

To solve the problem of group formation control, a leader-wingman formation control law imitating the behavior of geese flocks is designed, and a formation change strategy based on auction mechanism is proposed, which shortens the time and distance of formation change. Aiming at the problem of formation control in the turning section, a wingman tracking algorithm based on the advanced tracking point is given. The flight test shows that the algorithm can effectively solve the problem of long trajectory and tail swing of wingman in turn section.