A modified adaptive formation of UAV swarm by pigeon flock behavior within local visual field

Abstract UAV swarm track planning is crucial to ensure the smooth completion of the complex assigned tasks. UAV formation is of great significance to UAV swarm track planning. At present, UAV formation control methods have the defects of only set one formation type in the whole process, and poor adaptability in complex environment. This paper incorporates the formation decision function into the UAV control mode of virtual point formation, and classifies it at the expected angle based on the track planning model of pigeon swarm behavior, and puts forward a hierarchical early warning mechanism. In simulation experiment the method proposed in this paper can make UAV adjust its formation according to the environment, and avoid collisions between UAVs and various obstacles. In the adaptability of the algorithm, we fully consider the addition and deletions of UAV, static and dynamic obstacles, the interference of wind phenomenon and the diversity of tasks in the actual environment. The method proposed in this paper has made a beneficial attempt in the field of UAV control and expanded the application of UAV swarm.