UAV GROUP MANAGEMENT WHEN WORKING OUT OF CRISIS FLIGHT SITUATIONS IN SOLVING TRANSPORT PROBLEMS
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 autonomous control 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.