摘要：AbstractThis paper deals with a novel approach to fly three unmanned micro aerial vehicles (MAVs) in a predefined formation geometry/structure. The formation control algorithm is hierarchy based, decentralized, leader-follower configuration where the MAVs will be designated as leader and followers. The leader is in free flight or commanded to do predefined trajectory, as is the case here, while the followers track the leader's mission by maintaining the desired formation geometry/structure. Prior to actual flight tests, the formation algorithm needs to be verified. The formation algorithm is designed and developed in MATLAB/Simulink framework (SILS) and then ported onto the autopilot board to be tested in Processor-in-loop simulation setup (PILS). Communication plays a major role in any cooperative or formation missions. Minimal data exchange is assumed here. The leader transmits its vital flight information to its followers. As there is a constant stream of data among the MAV's, one major challenge is to avoid interference among the transmitted signals that operate commonly at 2.4 GHz. This issue is solved by using various addressing and application program interfacing (API) multi point communication schemes. Hence the SILS and PILS results show satisfactory tracking performance with minimal formation errors.
