Virtual Potential Field 運算法通常被採用來作為無人系統之避障方法，在本文中將利用Virtual Potential Field 的特點來作為編隊飛行之用， 以Potential Field 推導出之推力以及引力作為保持距離以及維持編隊之隊形.在本文中以MATLAB 來模擬應用Virtual Potential field 的四旋翼機編隊飛行概念，並以成功的試飛來驗證了Virtual Potential field 的概念。 Virtual Potential field methods are rapidly gaining popularity in obstacle avoidance applications for mobile robots and manipulators. In this thesis a new way of using Virtual Potential field methods to UAV formation flight is proposed. With their simple and straight, the attractive and repulsive forces derived from Potential field methods can keep the distance between each UAV and the formation of the fleet. In this thesis the application of Potential field methods are simulated using MATLAB. The successful flight tests of 3 Quadrotor UAVs formation flight demonstrate the proposed idea.