euclidean method

The new algorithm of simultaneously formation control and obstacle avoidance for quadrotors group is presented in this article. We consider the group of three quad rotors with nonlinear dynamic including rotors model in three dimensions space. Formation Control law in 3 dimensions was determined based on Euclidian distances and angles between quad rotors and controller designed with the direct control these parameters. Algorithm has ability of formation control and obstacle avoidance simultaneously. The presented algorithm reduces indirect measurement needs. Simulation results show algorithm ability in formation control and keeping, obstacle avoidance, smooth trajectory tracking and stability.The new algorithm of simultaneously formation control and obstacle avoidance for quadrotors group is presented in this article. We consider the group of three quad rotors with nonlinear dynamic including rotors model in three dimensions space. Formation Control law in 3 dimensions was determined based on Euclidian distances and angles between quad rotors and controller designed with the direct control these parameters. Algorithm has ability of formation control and obstacle avoidance simultaneously. The presented algorithm reduces indirect measurement needs. Simulation results show algorithm ability in formation control and keeping, obstacle avoidance, smooth trajectory tracking and stability.