针对多四旋翼无人机的编队保持和防碰撞及机间通信问题，设计了一种基于虚拟结构和人工势场相结合的编队规划控制算法。以虚拟领导者为核心基于期望的相对位置信息设计虚拟结构队形，结合人工势场斥函数实现虚拟结构质点的防碰撞以及维持通信距离功能，并解决了可能存在的局部死锁问题，基于反步法实现无人机对期望轨迹的跟踪功能。通过Lyapunov稳定性分析证明闭环系统的一致最终有界。多架四旋翼无人机的仿真结果表明，散乱分布的无人机可以实现无碰撞的快速编队形成，并在保持队形行进过程中灵活地完成对静态和动态障碍物的有效规避，同时在发现目标后迅速变换紧密编队队形，充分验证了所设计算法对于编队控制的可靠性及有效性。
For the problems of formation maintenance and anti-collision of multi-quadrotor UAVs and communication issues between UAVs， a formation planning control algorithm is designed based on a combination of virtual structure and artificial potential field. The virtual leader is used as the core to design the virtual structure formation which is based on the expected relative position information. The artificial potential field repulsion function is used to realize the anti-collision function and maintain the communication distance function of virtual structure particles， and the possible local deadlock problem is solved. The anti-stepping method is used to realize desired trajectory tracking by the UAVs. The uniformly ultimately bounded of the final value of the closed-loop system is proved by Lyapunov stability analysis. The simulation results of multiple quadrotor UAVs show that scattered UAVs can achieve rapid formation without collision， and flexibly complete effective avoidance of static and dynamic obstacles while maintaining the formation， and quickly change to a tight formation after discovering the target at the same time， verifying the reliability and effectiveness of the proposed algorithm for formation control.
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