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Multiple UAVs Formation for Emergency Equipment and Medicines Delivery Based on Optimal Fractional Order Controllers

This article studies a leader-follower formation algorithm based on fractional order proportional-derivative (FOPD) controller for multiple unmanned aerial vehicles (UAVs) when tackling an emergency health case. The controller parameters are tuned by using a particle swarm optimization (PSO) algorithm. Its performance is compared with an integer order proportional-derivative (IOPD) controller. Finally, the global path planning for the UAVs swarm is found by using a Dijkstra’s algorithm with quintic polynomial trajectory. This provides an optimal global path by considering the physical system dimension and constraints of acceleration and velocity of the UAV. The simulation tests using the virtual environment demonstrate that the proposed approach outperforms the IOPD controller.