| Summary: | Unmanned Aerial Vehicle (UAV) has been a great area of research and the topic of UAV
formation is of interest recently. This research focuses on implementing UAV formation on a
flying quadrotor platform. The benefits of achieving UAV formation include the capability to
provide wider coverage in surveillance and the ability to enhance mission efficiency.
Based on Ascending Technology Pelican quadrotor system, the model of the aircraft was
derived from moment of inertia measurement and parameter estimation. Controllers
(Compensator and PIDcontroller) were designed for simulations and ultimately, PID
controller was implemented on actual flight test.
To simplify the implementation and stay focused on the original objective, the system was
implemented on an unmanned aerial and ground vehicle system (UAV-UGV), with the UGV
as the leader.
There is good matching in the comparison between flight data and simulation results. This
validates the parameters estimation results and proves the performance of the formation
flight controller.
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