Volume 15, Issue 9 · IJARST · ISSN 2319-1783 / 2320-1126

Adaptive Formation Reconfiguration and Artificial Potential Field Avoidance for Multi UAVs in Constrained Spaces

Adaptive Formation Reconfiguration and Artificial Potential Field Avoidance for Multi UAVs in Constrained Spaces is an open-access, peer-reviewed research paper by Shuo Yang and Xinyi Li, published in Volume 15, Issue 9 of the International Journal of Advanced Research in Science and Technology (IJARST), a UGC-approved journal (Print ISSN 2319-1783, Online ISSN 2320-1126).

Author

Shuo Yang and Xinyi Li

Abstract

Multi-UAV formations operating in constrained environments must balance formation maintenance and local obstacle avoidance. Fixed formation geometry may become unsuitable when obstacles restrict lateral clearance, whereas abrupt formation switching can generate tracking transients. This paper proposes a virtual-leader-based adaptive formation control method that integrates restricted-space recognition, smooth formation reconfiguration, artificial potential field avoidance, inter-UAV repulsion, and speed constraints. The controller selects a V-shaped or single-file reference according to the surrounding obstacle configuration. A smoothing mechanism is introduced to ensure continuous transition between formation geometries, while the control input is continuously updated from formation-tracking, obstacle-repulsion, and collision-avoidance terms. Simulations on a multi-UAV simulation platform verify the proposed method in constrained and obstacle-rich environments. The formation can switch to a compact single-file configuration in restricted regions and recover the V formation after passing the obstacles. The results show that the controller maintains coordinated formation motion, avoids recorded obstacle contact, preserves inter-UAV separation, and keeps UAV speeds within the prescribed range.

Keywords: Multi UAVs, Formation reconfiguration, Virtual leader, Artificial potential field, Obstacle avoidance, Collision avoidance

DOI: https://doi.org/10.62226/ijarst20262817

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Int. J. Adv. Res. Sci. Technol. Volume 15, Issue 9, 2026, pp. 2606-2611.
www.ijarst.com Yang and Li Page 2611
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DOI

10.62226/ijarst20262817

PAGES : 2606-2611 | 2 VIEWS | 2 DOWNLOADS

How do you cite this paper?

Shuo Yang and Xinyi Li — “Adaptive Formation Reconfiguration and Artificial Potential Field Avoidance for Multi UAVs in Constrained Spaces.” International Journal of Advanced Research in Science and Technology (IJARST), Volume 15, Issue 9. DOI: 10.62226/ijarst20262817.

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