CONTROLLING THE MOVEMENT OF A GROUP OF UAVS IN COMPLIANCE WITH THE GEOMETRIC STRUCTURE OF THE FORMATION BASED ON ALTERNATIVE COLLECTIVE ADAPTATION

Abstract

The main way to solve problems of planning and traffic control is the use of intelligent technologies.At the same time, intelligent technologies are used to solve the problems of setting and adjustingcontrol goals and action programs to implement these goals, as well as to form a controlalgorithm under conditions of uncertainty caused by various factors in actuators, the motion controlsubsystem, and the planning and behavior subsystem. This work is devoted to the actual problem ofmathematical modeling and control theory: the problem of decentralized control of a multi-agentsystem consisting of agents modeling the behavior of autonomous robots in order to ensure the movement of a group of robots deployed in a line and in a «convoy» type formation. The paper examinesthe results of research in the field of controlling a group of unmanned aerial vehicles, identifiesthe types of tasks that can be performed by a group of aerial robots, and highlights the main controlstrategies and their features. The general positions necessary for the development of a detailed groupcontrol algorithm have been formed. Each robot must navigate in space autonomously without GPSusing signals from its own camera or lidar (active rangefinder), identify obstacles, build optimalpaths of movement and make decisions aimed at achieving the goal and completing the task. Managementis carried out using an alternative collective adaptation algorithm, based on the ideas ofcollective behavior of adaptation objects. To implement the adaptation mechanism, the vector parametersare matched with adaptation automata that model the behavior of adaptation objects in theenvironment. A structure for the process of alternative collective adaptation has been developed,under the control of which a group of robots moves in formation