A formation control and obstacle avoidance algorithm has been introduced in this paper for the V-shape formation flight of fixed-wing UAVs (Unmanned Aerial Vehicles) using the potential functions method. An innovative vector approach has been suggested to fix the conventional challenge in employing the artificial potential field (APF) approach (the creation of local minimums). A method called variable repulsive circles (VRC) has been then presented aimed at designing proper flight paths tailored with functional limitations of fixed-wing UAVs in facing obstacles. Finally, the efficiency of the designed algorithm has been examined and evaluated for different flight scenarios.

中文翻译：

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多架固定翼无人机V型编队飞行变斥力圈避障

针对固定翼无人机（Unmanned Aerial Vehicles）的V型编队飞行，采用势函数法引入编队控制和避障算法。已经提出了一种创新的矢量方法来解决使用人工势场 (APF) 方法（创建局部最小值）中的传统挑战。然后提出了一种称为可变斥力圈 (VRC) 的方法，旨在设计适合固定翼无人机在面对障碍物时的功能限制的适当飞行路径。最后，针对不同的飞行场景对所设计算法的效率进行了检查和评估。