Hybrid Methodology for Rebuilding a Swarm of Drones Based on Local Capabilities and Global Coordination
DOI:
https://doi.org/10.18372/1990-5548.83.19870Keywords:
unmanned aerial vehicle swarm, formation reconfiguration, potential field methods, collision avoidance, hybrid control strategy, leader-follower topology, multi-agent systems, trajectory optimization, decentralized control, real-time systemsAbstract
This work is devoted to solving the problem of restructuring the structure of a drone swarm from one topology to another. A hybrid topology is proposed that combines global centralized assignment of target positions with local potential control of each drone. Attractive and repulsive fields are used for safe maneuvering, while periodic global coordination ensures optimal distribution of roles. A mathematical model, rules for forming control influences, and convergence criteria are presented. The implementation of the proposed hybrid methodology is based on the sequential interaction of a global optimizer that determines the target positions of the swarm and a local potential regulator that ensures safe convergence of drones to these positions. Calculations are performed in discrete time steps with periodic restart of the global planner in case of a task change, the appearance of obstacles, or the loss of individual devices.
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