Децентрализованное управление группой автономных подвижных объектов при формировании траектории движения

Известия ЮФУ. Технические науки. 2024. № 2(242). С. 177–190.

Lebedev O. B., Лебедев Б. К., Бесхмельнов М. И.

This article examines algorithms for generating motion trajectories for unmanned aerial vehicles (UAVs) during search-and-rescue and emergency response operations. It describes methods and algorithms for controlling the movement of a UAV group in various formations—such as line, rank, column, and during turns. Control is achieved through alternative collective adaptation algorithms based on principles of collective behavior. The operating principles of a single adaptation automaton are analyzed. The objective of controlling the follower robots is to minimize deviations. To implement the adaptation mechanism, adaptation automata—which model the behavior of the entities being adapted within the environment—are associated with the vector parameters. A process structure for alternative collective adaptation of the parameters governing the UAV group's formation movement has been developed. Original parameter control rules were devised, offering several advantages over other methods: complete control decentralization combined with dynamic correction of robot parameters—specifically those defining position and orientation in an absolute coordinate system and linear velocity. A maneuver structure for correcting parameter deviations is proposed. Control is executed using an alternative collective adaptation algorithm based on the collective behavior of the adapted entities; this enables effective handling of contingencies—such as agent failure, changes in the number of agents (due to failure or the sudden establishment of a connection with a new agent), and conditions involving measurement errors and noise within specific limits.

Keywords: траектория, trajectory, control, algorithms, formation, movement, беспилотные летательные аппараты, движение, децентрализованное управление, строй, swarm control, роевые алгоритмы, unmanned aerial vehicles