THE METHOD OF ESTIMATION POSITIONS OF THE UAVS BY MEASURING THE DISTANCES BETWEEN ELEMENTS OF THE GROUP

Abstract

Currently, the active use of groups of robots has begun to solve a number of tasks for civil and military purposes. In this regard, problems arise associated with group management, the organization of reliable communication channels and ensuring the effective functioning of the group with limited energy resources. When solving the problem of optimizing energy consumption, the problem of increasing the efficiency of interaction of the elements of the group with stationary charging stations arises. This problem can only be solved by considering an integrated system, which includes robots and charging stations. Centralized management of such a system is justified in the case of a small number of its elements. However, with an increase in the number of elements in a group, the complexity of management increases, so a combination of centralized and decentralized management methods becomes a higher priority solution. The complex of problems of decentralized management of such a group includes the task of organizing the optimal interaction of its elements in order to achieve the goal of its functioning. When organizing energy exchange between robots and charging stations, solving this problem plays a key role in optimizing energy consumption. In this article, the concept of the interaction of mobile and stationary objects is developed, which implies the possibility of each agent choosing an appropriate companion for interaction. This choice is made taking into account the current state of the system and the assessment of the history of interaction results. The developed concept is detailed for a system that includes UAVs and their recharging stations. An algorithm is proposed for the decentralized selection of pairs of interacting elements "UAV - charging station" based on two indicators - the energy efficiency of the charging process, and the time spent by the UAV to reach the target point. Both indicators are taken into account when choosing the weights assigned to each charging station as its degrees of efficiency. Also, these indicators are included in the optimized quality criterion. An optimization procedure has been developed, the result of which is the number of the charging station that is most suitable for a given mobile object for interaction.