Simulation of a control system for the accident-free flight of three UAVs in the V formation in a heterogeneous environment

Abstract

Modern methods of creating groups of unmanned aerial vehicles (UAVs) require the use of complex (generalised) criteria, introduced mathematical models in the process of optimising the parameters of the UAV components. Such models should simulate the operation of an unmanned aerial vehicle when performing its task. The study considers strategies for diverging dangerously approaching UAVs using areas of dangerous courses and speeds. First, procedures were performed to establish the dangerous course areas of one UAV and the speeds of the second UAV, taking into account their ratio of speeds and dynamics. The areas for the case of UAV with insignificant transients of changes in courses and speeds, the duration of which can be neglected, is provided. In addition, procedures of the establishment of areas of dangerous courses of one UAV and the speeds of the second UAV with significant inertia are considered. Methods of the establishment of areas in the event of a decrease in the speed of the second UAV by active or passive braking are developed. Examples of choosing a safe manoeuvre in a situation of dangerous convergence of two UAVs are given. A more complex situation of approaching two UAVs in the presence of an interfering third UAV is also considered, and a method for choosing a safe manoeuvre is proposed, taking into account the interfering third UAV. Moreover, for such a situation, two alternative procedures for choosing a safe manoeuvre are proposed. The result of solving this problem was a method for establishing the area of dangerous courses and speeds of UAVs, taking into account the inertia-braking characteristics when determining a safe joint divergence manoeuvre taking into account the presence of a third UAV that provides interference.