To adapt the complexity and flexibility of battlefield environment, a method of formation reconfiguration based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, which shows the advantage of formation of Unmanned Aerial Vehicles (UAVs). Firstly, the kinematic model for UAVs is built, and the feasibility of combination of traditional RRT algorithm and formation reconfiguration of UAVs is analyzed. Secondly, the strategies of trajectory correction comprising node removal and transition trajectory are adopted. Then the dynamic and collision avoidance constraints are discussed respectively, which are essential for exploring the process of RRT algorithm as well as adjusting the trajectory of UAVs. Finally, the simulation and flight experiment are carried out to verify the effectiveness of the proposed method. The results show that the reconfiguration method is able to achieve the formation reconfiguration rapidly and safely. Moreove, the planed trajectory can satisfy the tracing requirement, which is of significance for flight of UAVs in the battlefield environment.
Collision Avoidance Algorithm for Satellite Formation Reconfiguration under the Linearized Central Gravitational Fields