Research and Design on Physical Multi-UAV System for Verification of Autonomous Formation and Cooperative Guidance

Based on wireless Ad Hoc networks, physical multi-UAV system is designed for realizing and verifying algorithms of autonomous formation and cooperative guidance. The whole system includes four subsystems: the data link subsystem based on RF modem, ARM and VxWorks embedded technology; autonomous formation and cooperative guidance subsystem based on ARM and WinCE embedded technology; formation flight control subsystem based on ARM, single-chip and DSP embedded technology; multi-UAV with piston engine and servos. Finally, subaerial semi-physical simulation and flight test are carried out based on the system, which show the feasibility and validity of both algorithms and hardware.