ALGORITHMS OF CONTROLLING AN INFORMATION ROBOT CREATED ON THE BASIS OF UNMANNED AERIAL VEHICLES
DOI:
https://doi.org/10.18372/2306-1472.83.14629Keywords:
unmanned aerial vehicles, optimal control, branching pathAbstract
Purpose: The purpose of this article is to present the algorithms of control of unmanned aerial vehicles (UAVs) as part of the information robot. Methods: The article considers the method of the theory of optimal control of dynamic systems, which was used to stabilize the UAV on a given trajectory, taking into account a possible change in the purpose of the movement. Results: The first algorithm allows: to estimate the coordinates of the UAVs current position relative to a given trajectory; to develop the optimal control of the UAVs movement to a specified position taking into account a predetermined quality criterion; as well to identify the optimal points in time for the UAVs group maneuvering. The second one allows to stabilize the UAVs on a given trajectory, taking into account the possible change of the target movement at each time point on a selected interval, and to calculate the optimal time point and phase coordinate of the UAVs group separation. Discussion: The proposed algorithms will allows, depending on the course of events, to promptly optimize the UAVs trajectories and redirect them to the required emergency zone in order to obtain accurate operational data about the victims, as well as to coordinate the actions of rescue teams.
References
Ashchepkov L.T. (1987). Optimal'noye upravleniye razryvnymi sistemami [Optimal control of discontinuous systems]. Novosibirsk, Nauka Publ., 226 p. (in Russian).
Bryson E., Yu-Chi Ho. (1975). Applied Optimal Control. New York, USA, Revised edition, 482 p. (United States).
Lysenko A. I., Tachinina O. M. (2014). Matematicheskaya postanovka zadachi optimizatsii dvizheniya gruppy letayushchikh robotov na baze bespilotnykh letatel'nykh apparatov [The mathematical formulation of the optimization problem of motion group flying robots based unmanned aerial vehicles]. Scientific Bulletin of the Academy of Municipal Management, vol. 1, no. 7, pp. 83-100. (in Ukranian).
Lysenko O., Tachinina O. (2014). Metod razmeshcheniya sensorov v zone chrezvychaynoy situatsii na baze tekhnologii sostavnykh dinamicheskikh sitem [Method of location of sensors based on the compound dynamic system technology in the area of emergency situation]. International periodic scientific journal SWorld, vol. 3(36), pp. 84-89. (in Ukranian). https://doi.org/10.18372/2073-4751.3.7747
Lysenko O., Tachinina O., Chumachenko S. (2015). Postanovka zadachi zastosuvannya teoriyi roz·haluzhenykh trayektoriy dlya vyrishennya zadach poshuku ta ryatuvannya v zoni nadzvychaynykh sytuatsiy [The problem statement of branching paths theory for solution of search and rescue task in the area of emergency situation]. Technical mechanics, vol. (1), 73-78. (in Ukranian).
Lysenko A. I., Tachinina O. M. Alekseeva I.V. and Chumachenko S. M. (2015). The Scenario-Based Approach for Control of Multi-Object Dynamic System Motion. IEEE 3rd International Conference «Actual problems of unmanned aerial vehicles developments», October 13-15, pp. 305-308. (in Ukranian). https://doi.org/10.1109/APUAVD.2015.7346627
Lysenko O., Tachinina O., Uriadnikova I. (2016). Features of unmanned aerial vehicles group dynamics and control. Proceeding of the International Conference :The Safety Management System, Liptovsky Mikulas, pp. 391-397. (in Slovak Republic).
Lysenko O., Tachinina O., Alekseeva I. (2017). Path Constructing Method of Unmanned Aerial Vehicle. IEEE 4th International Conference: Actual Problems of Unmanned Aerial Vehicles Developments, Ukraine, pp. 254-259. (in Ukranian). https://doi.org/10.1109/APUAVD.2017.8308823
Lysenko O., Tachinina O., Alekseeva I. (2017). Algorithm of Smart Prompter for Operator OF UAVS Group. IEEE 4th International Conference: Actual Problems of Unmanned Aerial Vehicles Developments, pp. 250-254). (in Ukranian). https://doi.org/10.1109/APUAVD.2017.8308822
Lysenko O., Tachinina, O. (2017). Method of path constructing of information robot on the basis of unmanned aerial vehicle. Proceedings of the National Aviation University, vol. 4(73), pp. 60-68. (in Ukranian). https://doi.org/10.18372/2306-1472.73.12177
Sage, A.P. & White, Ch.C. (1982). Optimum Systems Control. Moscow: Radio and connection. 226 p. (in Russian).
