Modified nonlinear guidance logic for formation flight of two UAVs

This paper presents a guidance logic for formation flight of two UAVs. Since the nonlinear guidance logic have good properties to follow nonlinear flight trajectory based on geometric and kinematic, the nonlinear guidance logic is modified as a leader-follower station keeping formation control law for two UAVs using the relation of the nonlinear guidance logic to the proportional navigation. The proposed guidance logic provides a good performance and relatively simple control logic. The performance of the proposed guidance logic is tested via various numerical simulations using developed multiple UAVs simulation environment.