Model of Control in a UAV Group for Hidden Transmitters Detection on the Basis of Local Self-Organization
Віталій Савченко · International Journal of Advanced Trends in Computer Science and Engineering · 2020
The article considers the technology of multi-UAV control of the complex of illegal transmitters detection on the basis of local self-organization.Successful detection and localization of a hidden transmitter using a group of drone scanners requires the construction of drones in the required topology.The model is based on the assumption that individual drones in a group cannot communicate with all other members and can transmit information about their location and detected hidden transmitters only to a limited number of nearest neighbors.This approach provides flexibility for individual drones to respond to changes in the current situation and effective coordination in the team.A method for constructing control laws for each of the drones based on a combination of Kirchhoff matrices, a set of mutual position vectors, and combined potential-attraction-repulsion functions is proposed.The modeling of the proposed approach to the problem of forming the structure of the mobile group of UAVs with a desired topology over the search object is carried out.The effectiveness of the approach to the search for illegal transmitters is proved.