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<p>To address the challenge of unmanned aerial vehicle (UAV) formation flight in complex environments, this paper proposes a behavior-based multi-UAV cooperative control and formation reconfiguration strategy. This method tackles the issues of safe flight in dense obstacle environments and the challenges of formation maintenance and reconfiguration in the event of individual UAV loss. First, to prevent the formation from being segmented by obstacles, a wing-contraction behavior is introduced to maintain formation integrity. Second, to overcome flight obstruction caused by large obstacles, a wall-following behavior is designed to guide the formation along the edges of obstacles and facilitate circumvention. Furthermore, to meet the reliability and fault-tolerance requirements in combat scenarios, an ingenious formation reconfiguration strategy is proposed, enabling autonomous maintenance and reconstruction of the formation to continue mission execution even when some UAVs are damaged. Finally, simulation experiments conducted in two typical environments validate the effectiveness of the proposed control methods and strategies.</p>

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Behavior-Based Multi-UAV Formation Control Under Random Attacks

  • 期刊论文

  • 发表日期：

    2026年7月30日

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  • Jinlong Sun,
  • Dong Zhang,
  • Lingzhi Mu,
  • Zehong Chen,
  • Haokun Wang

摘要

To address the challenge of unmanned aerial vehicle (UAV) formation flight in complex environments, this paper proposes a behavior-based multi-UAV cooperative control and formation reconfiguration strategy. This method tackles the issues of safe flight in dense obstacle environments and the challenges of formation maintenance and reconfiguration in the event of individual UAV loss. First, to prevent the formation from being segmented by obstacles, a wing-contraction behavior is introduced to maintain formation integrity. Second, to overcome flight obstruction caused by large obstacles, a wall-following behavior is designed to guide the formation along the edges of obstacles and facilitate circumvention. Furthermore, to meet the reliability and fault-tolerance requirements in combat scenarios, an ingenious formation reconfiguration strategy is proposed, enabling autonomous maintenance and reconstruction of the formation to continue mission execution even when some UAVs are damaged. Finally, simulation experiments conducted in two typical environments validate the effectiveness of the proposed control methods and strategies.