Swarming UAV flight offers several advantages over single UAV flight. However, it requires a particular guidance paradigm since the collective behavior emerges from the behavior of each individual. This paper proposes a swarming guidance algorithm developed from the artificial potential field concept. The guidance algorithm is capable of aggregation, swarm collision avoidance, waypoint tracking, obstacle avoidance, and rotational maneuvers. The method is simulated using numerical simulation with a quadcopter UAV model.