Разработка алгоритма равномерного покрытия территории группой беспилотных летательных аппаратов

Abstract

Subject of study. The paper proposes an algorithm for uniform distribution of unmanned aerial vehicles (UAV) with a given action radius in order to monitor a limited area. At present, the problem is relevant in various civil applications.Materials and methods. The developed algorithm allows to calculate the maximum and minimum possible distances between UAVs, so they are in the visible range of each other. In addition, the algorithm allows to fully cover the entire monitoring territory by the UAVs uniform distribution. The developed algorithm is verified by an empirical study using the CoppeliaSim simulation software tool. Main results. The UAVs position on a given territory should consider the number and range of UAVs. The presented algorithm’s implementation is flexible in relation to the monitoring area size, and to the specific UAVs technical characteristics, which allows to adjust the algorithm to the user’s and/or application’s requirements. Conclusion. The proposed algorithm allows to calculate the necessary and sufficient distance between UAVs to cover a given territory, and to calculate the minimal required UAVs number for their uniform distribution over the territory. The solution to the addressed problem is of practical importance, for example, in such applications as ground searching or monitoring operations.