Model of UAV as agent of multiagent system
Dmytro Kucherov, Andrei Kozub · 2018 IEEE 9th International Conference on Dependable Systems, Services and Technologies (DESSERT) · 2018
A multi-agent system consisting of a UAV and performing the task of monitoring the ground situation is considered. Agents of this system in the interests of performing the main task, except for the flight along the main route, are able to change the trajectory of movement, which arises in the event of an obstacle in the path of movement. The main problem in this situation is the lack of an acceptable mathematical model for the synthesis of the control laws the multi-agent system. The article deals with the mathematical model for movement along a line and curve trajectory. A mathematical model is constructed for a 4-motor UAV in the representation of its motion in a six-dimensional space. The group is formed relative to the leader further management is only by the leader. Distances, intervals, and attain a height between elements of the group are maintained in accordance with the proportional law. The main result of this article is the study of the mathematical model of UAVs for collective motion along a given route. The results of modeling the agent and the system as a whole are given. The conclusions establish the possibility of applying the developed mathematical model of UAV to the task of managing collective motion.