| Abstract: | To meet the need of high-precision coordinated formation, an improved method of leader-follower UAV coordinated formation based on path following is proposed. Firstly, from the traditional A* algorithm, the obstacle threat coefficient is introduced to improve the A* algorithm to plan the global path from the starting point to the target. Secondly, the Hermite polynomial is used to parameterize the discrete flight path of the leader UAV. When it encounters new obstacles, the improved A* algorithm is used to re-plan the path, and then the space formation information and formation path parameter information of follower UAV are synchronized by leader UAV. Finally, the formation coordination and collision avoidance controllers are designed based on the consistency principle and improved artificial potential field. The simulation results show that, compared with the traditional leader-follower method, this method can reduce the formation error, and improve the formation accuracy and stability of the UAV swarm under the complex curve path, and shows the value of engineering application. |
