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This paper reports on the formation and transformation of multiple fixed-wing unmanned aerial vehicles (UAVs) in three-dimensional space. A cooperative guidance law based on the classic missile-type parallel-approach method is designed for the multi-UAV formation control problem. Additionally, formation transformation strategies for multi-UAV autonomous assembly, disbandment, and special circumstances are formed, effective for managing and controlling the formation. When formulating the management strategy for formation establishment, its process is divided into three steps: (i) selecting and allocating target points, (ii) forming loose formations, and (iii) forming short-range formations. The management of disbanding the formation is formulated through reverse thinking: the assembly process is split and recombined in reverse, and a formation disbanding strategy that can achieve a smooth transition from close to lose formation is proposed. Additionally, a strategy is given for adjusting the formation transformation in special cases, and the formation adjustment is completed using the adjacency matrix. Finally, a hardware-in-the-loop simulation and measured flight verification using a simulator show the practicality of the guidance law in meeting the control requirements of UAV formation flight for specific flight tasks.

Flight Test of Autonomous Formation Management for Multiple Fixed-Wing UAVs Based on Missile Parallel Method