Multi UAV Formation Control for Target Monitoring

This paper presents a target monitoring strategy with multiple autonomous vehicles. It is assumed that the vehicles are equipped with a sensor, with which each vehicle can identify and measure bearing angle of it’s neighbor vehicle and the target. Each vehicle can be assigned different pursuit gain. At equilibrium agents move along a circle with rigid polygonal formation. This formation can be changed keeping the radius same by selecting proper values of pursuit gains. Simulation results are provided to verify the theoretical results. The results developed with unicycle model have been verified with 6-DOF model and Hardware In-Loop Simulator.