Two approaches to simulating a group flight of unmanned aerial vehicles as system with lumped and distributed parameters

摘要

When using UAV groups to solve various problems, it is necessary to form a control that ensures the collection of the group with the construction of the required topology, as well as the control of each UAV within the framework of solving the general problem and preventing collisions in the group. The paper considers the theoretical and practical features of simulating the problem of controlling a large dense UAV group when it is establishing various types of the required topology using two possible approaches. The first – traditional – is based on the consideration of the UAV group as a set of individual participants (a system with lumped parameters), for each of which a control is formed that provides both a solution to the general problem and collision avoidance within the group. The second – proposed – is based on the consideration of the UAV group as a system with distributed parameters that are functions of time and spatial coordinates. The basis of this can serve as a consideration of the problems of kinematics and dynamics for systems of non-interacting closely spaced particles. Studies have shown the possibility of using the proposed approach. Advantages and disadvantages of this approach are noted.