I.V. Derevich1, A.A. Panova2, E.I. Minakov3, M.S. Basherov4

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

2 JSC “Central Design Bureau of Apparatus Engineering” (Moscow, Russia)

3,4 Tula State University (Tula, Russia)

4 JSC “Central Design Bureau of Apparatus Engineering” (Tula, Russia)

1 derevichigor@bmstu.ru, 2 panova005@gmail.com, 3 eminakov@bk.ru, 4 basherov666@yandex.ru

Control of a swarm of aerial vehicle while avoiding obstacles and preventing collisions between vehicles requires the development of effective methods for autonomous group control without the need for individual control of each vehicle by an operator.

To develop a method for autonomous control of an aerial vehicles swarm using a digital twin of the group, synthesized on the operator's computer in virtual space.

A method for autonomous control of a swarm of aerial vehicles using a digital twin of the group is proposed. On the operator's computer, a nonlocal potential is synthesized in virtual space, which creates impenetrable contours of the flight corridor, internal obstacles, and prevents collisions between vehicles. The random velocity component and the nonlocal potential provide self-consistent behavior of the vehicles in the group and achievement of goals. The system of stochastic ordinary differential equations modeling the group dynamics is integrated using the Verlet algorithm. Three-dimensional dynamics of vehicles in a box with randomly arranged columns is illustrated.

From the control computer, the results of solving the system of differential equations can be transmitted to the vehicle controllers, which allows implementing autonomous control of a real aerial vehicles group based on a digital twin.

The work was carried out with the financial support of a Grant in the form of a research grant from the Committee on Science and Innovation of the Tula Region No. 15 dated June 21, 2024.

Derevich I.V., Panova A.A., Minakov E.I., Basherov M.S. Digital twin of a group of aerial vehicles based on nonlocal virtual potential // Radioengineering. 2026. V. 90. № 9. P. 77−86. DOI: https://doi.org/10.18127/j00338486-202609-08

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