November 13, 2025AerospaceOpen Access

Development of a Bearing-Based Distributed Control Method for UAV Formation Tracking and Obstacle Avoidance

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Numerical simulations demonstrate effective obstacle avoidance in UAV formations, indicating improved stability and scalability.

Follower UAVs successfully tracked the leader and maintained the designated formation, demonstrating high stability.
The novel obstacle-avoidance strategy ensured safe navigation during numerical simulations in obstacle-rich environments.
The proposed hierarchical bearing-based method simplifies UAV control while enhancing scalability and robustness in formations.
Overall findings support the use of single leader with multiple followers for efficient formation tracking and obstacle avoidance.

Choi et al. (2025) studied this question.

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