Abstract: The multiagent system(MAS) based strategy and corresponding implementing algorithms for UAVs formation flight are proposed according to aviation characteristics and practical constraints of UAVs. The coordinative optimizations among every individual UAV are carried out with flexible and smart ways by interactive communications and information feedback in MAS so as to implement the autonomous formation flight of UAVs. Furthermore the control law and corresponding algorithms of the wingman controller in the formation process are studied in depth based on the principle of leaderfollower, and simulation results verify the robustness and stability of the formation controllers. Finally, the formation alternation and threatening obstacle avoidance of UAVs are taken into account within the coordinative optimization procedure by simulated verification and comparative analysis.

Key words: UAV, MAS, formation flight, coordinative optimizing control, formation holding, obstacle avoidance