Multiple Unmanned Armored Vehicle Formation Transform

The formation of armored vehicle formation achievement and transforming are important research contents of vehicle formation control. Especially for the situation of unmanned armored vehicle formation. This paper combines the virtual navigator method and the behavior-based bait-predator method, and applies it to the formation achievement and transforming control of four unmanned armored vehicle formations. The target position is used as a bait to realize flexible transforming between linear, triangular and diamond formations. This method can prevent the formation leader from losing control due to the incapacitation of the formation leader, and does not specify the fixed position of the vehicle in the formation, which greatly guarantees the stability of the formation and the flexibility of formation transforming. The simulation experiment also proves that the method has good effect on the formation and formation transforming of vehicle formation.