Управление роем беспилотных летательных аппаратов для мониторинга открытой местности при поисково-спасательных операциях

Современные достижения в области робототехники открывают новые возможности для применения роя беспилотных летательных аппаратов (БПЛА) в критических ситуациях. Например, группы БПЛА могут быть эффективно использованы для проведения поисково-спасательных операций во время наводнений, ураганов, оползней и землетрясений. В данной работе рассматривается проблема управления формациями роя БПЛА, которая, в свою очередь, определяет общую результативность управления роем БПЛА в ходе выполнения миссии. Разработан простой и малозатратный метод предотвращения столкновений внутри роя БПЛА во время полета на открытой местности. Предлагаются типы формаций роя БПЛА, адаптированные под решение различных задач. Разработанный алгоритм реализован в Робототехнической Операционной Системе (ROS) на примере роя из десяти БПЛА PX4-LIRS. Его эффективность подтверждена по результатам проведенных экспериментов в виртуальной среде Gazebo. Количественные данные экспериментов представлены в виде значений среднего и стандартного отклонений абсолютной ошибки позиционирования БПЛА.

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