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June 6, 2026AerospaceOpen Access

Distributed Formation Control Method with Hierarchical Leader–Follower Architecture and Repulsive Function-Based Obstacle Avoidance for UAV Formation Flight

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Authors

JCJaewan ChoiChungbuk National UniversityYCYounghoon ChoiKorea Aerospace University

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Implication

Randomized trial evaluates UAV formation control with collision avoidance, highlighting significant improvements in complex environments.

Key Points

  • This research aims to enhance UAV formation flight through improved collision avoidance and control methods.
  • Proposed the VLFS-RF method integrating a repulsive function into the conventional Virtual Leader-based Formation System.
  • Conducted Software-In-The-Loop simulations in a ROS-Gazebo environment with V-shaped and hexagonal formations.
  • Evaluated four control modes focusing on formation tracking, inter-UAV collision avoidance, and obstacle avoidance.
  • Formation tracking error was reduced by approximately 59% compared to the conventional VLFS.
  • Inter-UAV collisions were successfully prevented during initial convergence.
  • Obstacles were effectively avoided in narrow passages and gaps between two obstacles.

Cite This Study

Choi et al. (2026) studied this question.

synapsesocial.com/papers/6a23ba3c71a5da9775e75ee8https://doi.org/10.3390/aerospace13060526
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