This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibility advantages. The main objective is to develop an effective formation control strategy that allows UAVs to autonomously adjust their positions to form the desired formation while navigating through obstacles. To achieve this, we propose a distributed behavior-based control algorithm that combines the behaviors designed for individual UAVs so that they together navigate the UAVs to their desired positions. The reconfiguration process is automatic, utilizing individual UAV sensing within the formation, allowing for dynamic adaptations such as opening/closing wings or merging into a straight line. Simulation results show that the self-reconfigurable V-shape formation offers adaptability and effectiveness for UAV formations in complex operational scenarios.

翻译：本文针对多架无人机在密集障碍物环境窄通道中的导航问题，设计并实现了一种自重构V形编队控制器。选择V形编队的动机源于其优越的机动性与视野优势。主要目标是开发一种有效的编队控制策略，使无人机在穿越障碍物时能够自主调整位置以形成期望的编队构型。为此，我们提出了一种基于分布式行为控制算法，通过整合为单架无人机设计的个体行为，协同引导各无人机抵达目标位置。重构过程基于编队内单机传感信息自动完成，可实现机翼开合或合并为直线编队等动态调整。仿真结果表明，自重构V形编队在复杂作战场景中具有良好的适应性与有效性。