The Fixed-Wing UAVs Formation Transformation with Time Consistency

This paper focuses on the formation transformation problem of fixed-wing unmanned aerial vehicles (UAVs) in a large range. The formation transformation method with time consistency is proposed to solve the fixed-wing UAVs formation transformation. And the formation energy consumption and formation time are considered as two optimization metrics. In addition, the Dubins curve theory is introduced to generate the desired trajectory and satisfy the the minimum turning radius constraint of the fixed-wing UAV. The feasibility is verified by the multi fixed-wing UAVs formation transformation.