METHODS OF DATA COLLECTION BY UAVS WHEN MONITORING HARD-TO-REACH TERRAIN

Abstract

This paper proposes a methodology and method for constructing a model of the study area as a finite set of zones (sections) covering it, characterized by the fact that all sections are rectangular. The paper examines methods for forming a minimal set of sections on a large field that completely cover the accessible territory surveyed by unmanned aerial vehicle (UAV) sensors. The size, orientation, and relative positions of the sections are aimed at minimizing their survey time. In general, a route M is a sequential set of linear segments. Route M is divided into segments using a set of control points P. A methodology and algorithm for constructing an optimal UAV route based on the ant colony method have been developed. Mechanisms for controlling the UAV's movements along the route have been developed. In general, a route M is a sequential set of linear segments. A segment of the UAV's path (trajectory) over a surveyed area of territory being scanned (explored) is called a working segment, while a segment of the UAV's path (trajectory) over a non-scanned (explored) area is called a dummy segment. Generally, a route is an alternating sequence of working and dummy segments, replacing each other. A methodology and algorithm for moving an UAV between reference points of a segment corresponding to reference points have been developed. Two algorithms represent the solution search procedure: Algorithm 1, which describes the behavior of an ant colony; Algorithm 2, which describes the behavior of an agent. An adaptation unit supports the process of moving an UAV along a route in real-world conditions. The adaptation unit's task is to control the UAV's movement along a reference line along the route. The control method involves replanning the motion parameters of an unmanned aerial vehicle (UAV) moving parallel to a reference vector at each moment during flight. Adaptation of the UAV consists of adapting the control parameter values. A structure of maneuvers performed by UAVs to correct parameter deviations is proposed. The adaptation task consists of generating a sequence of adaptive actions in the adaptation machine that extremize the quality indicators of the resulting solutions (adaptation criteria). The adaptation object is a set of continuous flight control parameters: the UAV's deviation from the reference line; the angle between the UAV's motion vector and the reference line of the current segment; and the UAV's flight altitude above the current segment. Adaptation of the UAV consists of adapting the control parameter values