Figure 1.
The definition of quadrotor’s position coordinate system
Figure 2.
Structure of the formation control system
Figure 3.
Communication topology graph
Figure 4.
The position relationship among formation members
Figure 5.
Quadrotor’s communication topology in the simulation experiments
Figure 6.
Simulation curve of the generation of the quadrotors formation
Figure 7.
Simulation curve of quadrotor formation maneuver
Figure 8.
Curve of each quadrotor’s position and velocity change in X-direction
Figure 9.
Curve of each quadrotor’s positon and velocity change in Z-direction