Resumen
UAV formation keeping is an important research element due to its cooperative formation control. This study proposes a passive positioning model for UAVs based on the Monte Carlo strategy and provides a trajectory programming decision scheme based on the predicted calculation of deviated UAV predefined endpoint locations, effectively improving the efficiency of UAVs performing formation-keeping tasks during flight. Then, the simulation after sampling by Gaussian distribution is used to obtain the trajectory planning under simultaneous control of multiple cluster formations, and the feasibility, accuracy and stability of the proposed model are verified. This study provides useful guidance for UAV formation control applications.