Three-dimensional formation flight for UAV using bifurcating velocity field

This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.