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• UAV GROUP MANAGEMENT WHEN WORKING OUT OF CRISIS FLIGHT SITUATIONS IN SOLVING TRANSPORT PROBLEMS

  А.I. Savelyev, V.V. Lebedeva, I.V. Lebedev, К.V. Kamynin, L.D. Kuznetsov, А.L. Ronzhin

  2022-04-21

  Abstract ▼

  The relevance of the development of algorithms for managing a group of UAVs in the event of
  crisis situations that affect the performance of the task is substantiated. An algorithm for autonomous
  collective (decentralized) control of a group of UAVs is described when performing the target task of
  transporting goods, as well as combined control in the event of crisis situations when the autonomouscontrol mode cannot be fully implemented. The algorithm for working out a crisis situation in case of a
  lack of energy resources on board the UAV and the return of group agents to the starting position is
  described in detail. The results of modeling the movement of a group of UAVs of multirotor and aircraft
  types and working out a crisis situation for managing a group of UAVs based on information about the
  reserves of energy or fuel resources are presented. During the experiment, iteratively calculated the
  remaining fuel when the UAV moved to the landing point, as well as the amount of fuel available to the
  UAV at a given time. As a result of the experiments, it was found that the time for calculating the balance
  of the energy resource does not exceed 6.792 ms. If the leader runs out of fuel, the cargo transportation
  mission ends ahead of schedule, since it cannot be completed without the participation of the
  leader. If several slaves fail, the mission can be continued if their number does not exceed a predetermined
  value, which is critical for the continuation of the cargo delivery mission. The results of experimental
  studies on modeling the flight of an UAV with a load are presented, during which a flight route
  was built that simulates a curvilinear trajectory of movement in urban conditions from the starting point
  to the end point, where the UAV is landing and transferring the cargo. In the experiments, the developed
  UAV and the onboard fastening system of the thermal container were used. During flight tests, the average
  horizontal speed of the UAV was set to 10 m/s. The length of the flight was 5350 m. The flight time
  was 13 minutes. 51 seconds.

• MULTIPURPOSE APPROACH TO VISUAL NAVIGATION BASED ON LANDSCAPES FOR UAVS OPERATING IN GNSS-UNAVAILABLE CONDITIONS

  S. V. Kuleshov, А. V. Kvasnov, А. А. Zaytseva, А.L. Ronzhin

  2025-04-27

  Abstract ▼

  The aim of the study is to provide the possibility of UAV navigation when it is impossible to use satellite
  global positioning systems using GNSS in electronic warfare conditions. To achieve this goal, a
  comprehensive approach to ensuring UAV navigation by visual landmarks using machine vision systems is
  proposed. It is proposed to synthesize images of the underlying surface by combining sensor data, which
  improves the quality of UAV positioning in the absence of satellite navigation systems. It is shown that
  when combining remote sensing images of different origin and changing external operating conditions
  (day-night, winter-summer, etc.), it is important to most fully localize the objects of the underlying surface.
  In the machine vision system for visual navigation of UAVs by natural landmarks, a method of electromechanical
  image scanning is proposed, which allows increasing the field of view of a camera of an arbitrary
  range. Modeling of the characteristics of the machine vision system with electromechanical scanning
  is carried out to determine the limits of applicability to the problem of visual navigation. It is shown that
  the most significant parameter of positioning accuracy is the shooting height of the underlying surface,
  which is quasi-linear under the condition of a fixed camera tilt angle, and for high-quality positioning, the
  best option is the frontal position of the camera at the nadir point. The proposed approach allows creating
  virtual 3D models of the underlying surface, thereby increasing the capabilities for more accurate recognition
  of objects based on the scale and size of the segmented areas. Measuring the camera elevation angle
  can be used to detect and recognize natural landmarks that can be predetermined (road intersections buildings or structures, utility facilities, etc.). On the other hand, the frontal position of the camera with a
  zero elevation angle is advantageous for verifying the flight route, positioning the UAV relative to the
  reference landmark. This is due to the fact that with the widespread use of software based on mathematical
  models, the photogrammetric ruler technology has become appropriate for quantitative measurement
  of terrain plans and maps

• TASKS OF CONTROLLING THE EXCHANGE OF PHYSICAL RESOURCES BETWEEN AGRICULTURAL MEANS WITH VARYING DEGREES OF ROBOTIZATION

  A.L. Ronzhin, Ngo Kuok Tien, Vinh Nguyen Van

  2020-07-10

  Abstract ▼

  The problem of controlling the interaction of unmanned aerial vehicles (UAVs) with ground-based robotic service platforms that perform the functions of transporting and transferring physi-cal resources needed to perform agricultural operations on open ground is considered. The com-bined use of heterogeneous ground and air robotic means expands the functional and sensory capabilities of automatic processing of agricultural land. In a number of cases, for example, when servicing energy supply systems and transporting air means, the problem of physical interaction arises between an unmanned aerial vehicle and a ground service robotic platform. The complexity of solving this problem is associated with the problems of landing, fixing and mechanized pro-cessing of batteries and agricultural resources placed on an aircraft on a service platform, as well as managing the sequence of service of a UAV group. Compared with ground equipment, the use of UAVs in agricultural tasks provides a number of advantages: lack of physical contact with the ground and soil compaction, a wider monitoring and processing area, better treatment of crops with liquid means due to the rotation of rotors without the use of additional devices. Available prototypes of service robotic platforms are distinguished by the complexity of internal mecha-nisms, the speed of service, the algorithms for the joint operation of the platform and the aircraft during landing and maintenance of battery. Autonomous UAV landing in modern research is con-sidered not only on a fixed site, but also on a mobile platform that carries out movement in various environments. Based on the results of the analysis of existing approaches, a classification of exist-ing service systems installed on robotic and mechanized platforms has been compiled. The pro-cessing characteristics of some common crops are considered. A list of operations of the agricultural production process, their duration and cost, as well as the possibility of mechanization. It is concluded that the cost of non-mechanized operations is much higher. A method has been devel-oped for assessing the required composition and quantity of equipment for cultivating agricultural land, characterized by a multi-criteria assessment using a linear combination of three main crite-ria for the total processing time, energy consumed, the cost of the equipment involved and providing numerical modeling and optimization of the volume of involved heterogeneous robotic systems. The results of numerical and simulation modeling of the amount of robotic equipment required for processing agricultural land using arbitrary units and approximate ranges of input parameter values are presented. The simulation was performed in the developed AgrobotModeling software, which also implements visualization of the interaction of unmanned aerial vehicles with agricultural ground service platforms and provides decision support on the optimal number of robotic tools needed to process a given agricultural land area.