本文主要利用行為模式法進行無人載具四旋翼群的編隊飛行控制，藉由彈簧與阻尼定義載具間的行為，且每架載具都有專屬的權重，使載具可以依據環境以及團隊中成員的位置，產生出相應的移動軌跡，並結合leader-reference的編隊位置定義進行編隊，使僚機能依據主機位置來追尋期望的軌跡到達指定隊形。先透過質點的模擬來驗證軌跡的規劃。為了使設計的行為能夠運用在四旋翼上，故需對四旋翼的動力學進行分析，建立其座標系統及動態模型，並設計控制器，在文章的最後結合所設計的行為模型以及加入四旋翼的動態，透過模擬來驗證使用本文所提出的行為模式方法可以產生正確的軌跡給四旋翼，使四旋翼能夠成功的到達期望隊形以及目標點。並透過模擬直線隊形及倒三角隊形運用在障礙物閃避的案例，來分析比較在閃避障礙物的案例中比較適合什麼樣的隊形編排。

This paper provides a method of ‘behavior-based’ to do the path planning for ‘quadrotors’. As walking to the destination, if there are obstacles on the road, it is required to avoid them and keep the safety distance from other people. Simultaneously, move towards the destination. In other words, the overall behavior of walking is composed of different motor schemas, which serve as the basic unit of behavior specification for the navigation of a mobile robot. (e.g. move to goal, obstacle avoidance, collision avoidance and etc. ) With their own weighting gain the motor schemas can produce a potential field which can generate the force to give the vehicle to decide where to go and how to go. In order to form the different formation, this paper use one of the formation position determination method- ‘leader-referenced’ to do the ‘formation control’ on the quadrotors.

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