In this paper we propose an algorithm for stabilizing circular formations offixed-wing UAVs with constant speeds. The algorithm is based on the idea oftracking circles with different radii in order to control the inter-vehiclephases with respect to a target circumference. We prove that the desiredequilibrium is exponentially stable and thanks to the guidance vector fieldthat guides the vehicles, the algorithm can be extended to other closedtrajectories. One of the main advantages of this approach is that the algorithmguarantees the confinement of the team in a specific area, even whencommunications or sensing among vehicles are lost. We show the effectiveness ofthe algorithm with an actual formation flight of three aircraft. The algorithmis ready to use for the general public in the open-source Paparazzi autopilot.
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