Investigation of Integrated Control Algorithms for Unmanned Aerial Vehicle Groups

The main prospects for the group use of unmanned aerial vehicles (UAVs) were analyzed, the problems were identified, and the stages of its solution were proposed. The basic algorithms are analyzed, which are designed to achieve joint and coordinated actions of all elements of the system of integrated control of a group of UAVs, and are used in most approaches to ensure stable interaction between system components. The analysis of the most common mathematical models for controlling groups of UAVs was carried out, in particular: the Reynolds cohesion model, the artificial potential field model, and the leader-following model. The peculiarities of the operation of these models, common and distinctive features, advantages and disadvantages are determined. Based on the considered models and basic interaction algorithms, the algorithms of the components of the UAV group control system are proposed, and the sequence of actions during the interaction between the system components is also described. The main details of UAV group control algorithms are considered. The main aspects of the interaction of the system elements are given, which include messages of various categories used at different stages of the system's operation, in particular: synchronizing messages; group-wide control messages for managing the group as a whole; messages for correcting the flight of a specific UAV; notification of the transfer of statistical information for flight correction; notification of the launch and coordination of the task execution by a specific UAV. The use of joint messages for group management is described, which allows you to relieve the transmission channel, because the flight trajectories are calculated by each UAV individually, according to predetermined criteria. The main stages of the system's operation, the peculiarities of their implementation, the sequence of message transmission in each stage, as well as the basic details of the operation of some system components are described. Block diagrams are provided to display the process of system operation at various stages of flight, with a detailed description of the steps of system operation. The process of collecting statistical data from UAVs for dynamic flight adjustment of the group is described.