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 adjusting control goals and action programs to implement these goals, as well as to form a control algorithm under conditions of uncertainty caused by various factors in actuators, the motion control subsystem, and the planning and behavior subsystem. This work is devoted to the actual problem of mathematical modeling and control theory: the problem of decentralized control of a multi-agent system 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 examines the results of research in the field of controlling a group of unmanned aerial vehicles, identifies the types of tasks that can be performed by a group of aerial robots, and highlights the main control strategies and their features. The general positions necessary for the development of a detailed group control algorithm have been formed. Each robot must navigate in space autonomously without GPS using signals from its own camera or lidar (active rangefinder), identify obstacles, build optimal paths of movement and make decisions aimed at achieving the goal and completing the task. Management is carried out using an alternative collective adaptation algorithm, based on the ideas of collective behavior of adaptation objects. To implement the adaptation mechanism, the vector parameters are matched with adaptation automata that model the behavior of adaptation objects in the environment. A structure for the process of alternative collective adaptation has been developed, under the control of which a group of robots moves in formation