ENSURING THE SAFETY OF A HETEROGENEOUS GROUP OF UNMANNED AIRCRAFT

Abstract

Background. The object of the study is to ensure the safety of the flight of unmanned aircraft as part of a heterogeneous group in the emergency zone, designed for the localization and elimination of emergency situations. The subject of the study is the proposed zones, or areas of security, which are built in a basic coordinate system, the beginning of which is tied to a certain point in the emergency zone, around each unmanned aircraft or potentially dangerous object. The purpose of the work is to develop a concept of application (and recommendations for use), including the construction of zones or security areas around each unmanned aircraft and potentially dangerous objects, taking into account the relative position of these zones or security areas, the intersection of which is unacceptable during the flight of an unmanned aircraft, thereby ensuring the protection of an unmanned aircraft from collision with obstacles. Materials and methods. To describe the process of transition from local coordinate systems associated with a specific unmanned aircraft to the base coordinate system, homogeneous transformation matrices are used. The concept of security spheres, as well as adaptive security spheres, dynamic radii of adaptive security spheres is introduced. Results. An approach to ensuring the protection of unmanned aircraft moving as part of a heterogeneous group in an emergency zone from collisions with obstacles, including each other, is proposed. This approach can be used to organize the movement and interaction of objects operating as part of multi-agent systems. Conclusions. The methods used for the transition from local coordinate systems linked to a particular unmanned aircraft (UAV) to the basic coordinate system allow you to organize the movement of a heterogeneous group of UAVs in the emergency zone. The developed concept and recommendations for the construction of an emergency zone, zones, or security areas around each operating as part of a heterogeneous group of UAVs and around potentially dangerous objects, as well as for taking into account the mutual location of these zones, or security areas, protect each UAV from collisions with obstacles, and also increase the traffic safety of a heterogeneous group of UAVs as a whole.

Keywords

• unmanned aircraft
• heterogeneous group
• security sphere
• dynamic radius of adaptive security sphere