Fig 1.
Inertial coordinate system and reference frame.
Fig 2.
Basic tentacle algorithm.
Fig 3.
Basic tentacle algorithm.
Fig 4.
Steady state in tentacle algorithm.
Fig 5.
Modified occupancy grid and tentacles.
Fig 6.
Modified tentacle algorithm.
Table 1.
UAV’s initial states.
Table 2.
Formation flight requirements.
Table 3.
Obstacle parameters.
Fig 7.
3D Trajectories of UAVs.
Fig 8.
Trajectories of UAVs in xoy plane.
Fig 9.
Trajectories of UAVs in xoz plane.
Fig 10.
Heading angle histories of each UAV.
Fig 11.
Track angle histories of each UAV.
Fig 12.
Deviation from expectation position of each UAV.
Table 4.
The minimum distances among all UAVs.
Table 5.
The minimum distances from each UAV to obstacles.
Table 6.
The computation load in 5 continuous time sets.