Toward energy-optimizing rotary wing MAV formations

A bio-inspired energy-optimizing control methodology for a formation of rotary-wing Micro Air Vehicles (MAVs) is proposed. The key idea is that the recirculating airflow induced by each vehicle can be used to provide an upward airflow to a neighbor in the formation. The recirculating airflow around each vehicle is modeled using a doublet field, and the effects of recirculation on each vehicle in the formation are accounted for. A separation-bearing controller is implemented for a leader-follower formation, and the optimal formation is determined. It is found that the effects of recirculation are relatively weak, and only a single vehicle at a time can be the beneficiary of the recirculating flow of the rest of the formation. Within the optimal configuration, significant reduction in hover power can be realized for the lead vehicle.