Authors I.A. Kalyaev, S.G. Kapustyan, L.Z. Usachev
Month, Year 12, 2016 @en
Index UDC 007.52:004.896:004:942
DOI 10.18522/2311-3103-2016-12-5570
Abstract The aim of the study is to improve the efficiency of unmanned aerial vehicles (UAVs) by using them in group. Using the network-centric principles of information exchange between UAVs of the group can significantly extend the range of tasks to be solved with the use of mobile robots, including UAVs. Model example of the UAVs group application is the task of monitoring the vast territories and search for various objects. Given is the formal statement of the problem of distribu-tion of a certain set of scan areas between the UAV group so that to minimize the scan time. It is proposed to solve this problem by dividing it into three sub-tasks and solving them step by step. First, determined is the number of UAVs required to scan each area, and then distributed is the scanning area between the UAVs of group and finally the strips of scanning are distributed, on which each area is divided, between the UAV subgroups assigned to scan this area. The last two sub-tasks can be reduced to the classical problem of appointments and for their solving may be used the same algorithm, for example, Hungarian algorithm or its various modifications. The ap-proach proposed in the article allows solving the problem of distribution of targets (scan areas) between the UAVs of the group by control devices of separate UAVs, combined by communication channels in computer networks and is applicable for solving a variety of different classes of tasks in groups of UAVs. At that the proposed method of solving the problem of the distribution of scan areas allows minimizing the possible intersection of UAVs trajectories and reducing the probability of collision between UAVs. For experimental studies of the proposed approach by methods of computer simulation developed was the simulation software model of functioning of groups of UAVs when solving the scanning tasks of prescribed areas. The simulation results confirm the efficiency of the proposed approach and show that it is possible to get close to the optimal variant of the distribution of scan areas between UAVs group from the viewpoint of minimizing the total time-consuming and providing the security of moving of UAVs to targets.

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Keywords UAVs group; distribution of targets; network-centric system; group control system; method; algorithm; simulation model.
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