АППАРАТНО-АЛГОРИТМИЧЕСКОЕ ОБЕСПЕЧЕНИЕ ПЕРСПЕКТИВНОЙ СИСТЕМЫ ЭНЕРГОСБЕРЕЖЕНИЯ АВТОНОМНОЙ ГРУППЫ БПЛА

Abstract

Due to the accelerated growth in the use of groups of autonomously functioning unmanned aerialvehicles (UAVs) in various environments, solving the problem of optimizing the functioning of groups ofsuch vehicles according to the criterion of the minimum energy consumed is an urgent scientific task. Inthis article, a new approach is being developed to ensure energy saving of a group of unmanned aerialvehicles (UAVs) by using UAV charging stations that provide the necessary versatility in servicing differenttypes of vehicles. The most effective variants of landing systems, precise positioning, power generationat the station are considered, and a hybrid charging system combining contact and contactless methods is also justified. A generalized scheme of multi-stage interaction of the UAV with the chargingstation is given, which provides for the possibility of repeating one of the stages if it is not fully completedwithin certain time intervals, and also takes into account the peculiarities of interaction betweenagents through the communication channels available to them. The problem of optimal distributionaccording to the energy criterion of the group's UAVs between destinations (PN) combined with chargingstations (SP) has been set and solved. Both the cruising mode and the maneuvering of the vehicleduring takeoff and landing, when the power consumption increases, are taken into account. The conceptof the effective distance to the destination is introduced, taking into account the estimated energy costsof each UAV to reach this destination, taking into account its arbitrary current position and the availablequeue of tasks at the moment. To study the developed approaches and algorithms for targeting andplanning the movement of the group's UAVs, software based on the Unity environment was created andtested. The flexibility of the latter allows modeling various algorithms of information interactionsof elements within a group of UAVs, a group of charging stations, as well as cross-interactionsbetween UAVs and charging stations. In particular, the software allows you to determine at eachdiscrete moment the degree of charge of each UAV, the queues of destinations for each UAV, itshistory of recharge at stations.