I.P. Titkov1, А.А. Karpunin2

1,2Bauman Moscow State Technical University (Moscow, Russia)

The use of UAVs groups for solving modern practical problems of performing multi-angle shooting, territory surveillance, monitoring the perimeter, detecting threats, and conducting search and rescue operations can increase the efficiency, speed up and improve the quality of solving these problems. They can be reduced to the task of constructing a given spatial configuration (formation) by a group of UAVs. The fundamental problem of the group use of UAVs with ensuring trajectory safety due to the possible intersection of the trajectories of movement and the collision of the UAV on all the features of the functions of the group. Coordinated control is to ensure the safe movement of the UAV from positions in the initial formation to positions in the final formation. A solution to the problem of coordinated control of the formation of a group of UAVs with ensuring trajectory safety in the form of desired positions on spatial trajectories is proposed. Goal is to develop a coordinated control algorithm with ensuring trajectory safety in multi-rotor UAVs group control systems in the formation problem.

An algorithm for determining the safe desired UAVs positions on piecewise linear spatial trajectories and a generalized algorithm for coordinated control of a group of UAVs with ensuring trajectory safety in the form of a control law for the desired UAVs positions on spatial trajectories have been developed. The results of the analysis of the solution of the problem are presented.

The developed generalized algorithm does not require a mathematical model of the control object, but only the ability of the UAV to follow along the assigned trajectory and hover in the position specified on it with a known accuracy; allows to get a solution in a predictable finite time in the case of correct initial data. The implementation of the algorithm for determining safe desired positions allows calculating safe desired positions in less than one second on 2048 linear trajectories or on 256 polygonal chains of 7 sections or on 512 polygonal chains of 3 sections in single-threaded mode with the possibility of proportional acceleration in parallel computing.

Titkov I.P., Karpunin А.А. Coordinated control of the formation of a group of UAVs with ensuring trajectory safety in the form of desired positions on spatial trajectories (part 1). Information-measuring and Control Systems. 2022. V. 20. № 4. P. 25−35. DOI: https://doi.org/10.18127/j20700814-202204-03 (in Russian)

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