A modified nonlinear guidance logic for a leader-follower formation flight of two UAVs

This paper presents a guidance algorithm for formation flight of two UAVs. Since the nonlinear guidance algorithm have good properties to follow nonlinear flight trajectory based on geometric and kinematic, the nonlinear guidance algorithm is modified as a leader-follower station keeping formation control law for two UAVs using the relation of the nonlinear guidance algorithm to the proportional navigation. The proposed guidance algorithm provides a good performance and relatively simple control logic. The performance of the proposed guidance algorithm is tested via semi-flight test environment that is composed of near-real-time simulation for the leader and real flight for the follower.