Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors

This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-based guidance algorithm; to compromise between safety, trajectory optimality, and control effort during the formation flight. The tuning is formulated as a constraint optimization problem where the penalty function method is used to secure the safe passage of quadrotors around an obstacle. The guidance subsystem is integrated with a consistent dynamic inversion controller to realize a smooth maneuver of the quadrotors along desired trajectories. For more, MATLAB/Simulink is used as the programming platform. The effectiveness of the tuning method is verified, based on the performance of the closed-loop system in the presence of an overall navigation system uncertainties and actuator lags.