Investigation of Methods for Unmanned Aerial Vehicle Control
Students Name: Ostapiuk Viktoriia Serhiivna
Qualification Level: magister
Speciality: Information Communication Networks
Institute: Institute of Telecommunications, Radioelectronics and Electronic Engineering
Mode of Study: full
Academic Year: 2020-2021 н.р.
Language of Defence: ukrainian
Abstract: The work is devoted to research of methods of control of unmanned aerial vehicles. An unmanned aerial vehicle (UAV) is an aircraft that is able to move independently in the air to perform various functions and tasks assigned to it. The UAV can be moved by a program that allows it to control the flight, or by remote control performed by a person from the control panel (mobile or stationary) [1]. The latest numerous approaches are aimed at reducing the impact of external disturbances to increase the performance of UAVs. However, designing state-of-the-art controllers that meet the requirements of the programs is still a huge challenge. The control of the UAV group in the information network with bidirectional connections between its elements (nodes) was investigated. With the help of nodes you can transmit, receive and exchange data. The medium of information transmission is air. According to the method of management, the network belongs to the "client-server" architecture. There are many problems in the field of creating systems of self-organizing networks with variable topology. If we take into account the limitations and dependence of the UAV group application on the given task, it is necessary to perform an analysis of network topology indicators for group flight implementation. The problem of routing is one of the main problems. Each type of routing protocol has its potential advantages and disadvantages under different conditions (node density and speed). In the first two sections of the work the radio channel of the communication network is investigated, which provides efficient use of unmanned aerial vehicles with the least data transmission losses, the main control algorithms and routing protocols are analyzed. For optimized network operation, the ant colony optimization (ACO) method was chosen - a swarm method, which is one of the effective polynomial algorithms. Ant optimization algorithms are not similar to most basic routing algorithms. Different subtypes of ASO algorithms are used to prevent routing problems in networks. Examples of algorithms are: AntNet, ANTMANET, ACODV, MRAA, AntHocNet, ANT-DSR, AntNet-RSLR, HOPNET, ARA, etc. The main theories and methods by which they carry out joint coordinated actions of a group of objects are given. The theory of swarm intelligence is used to study the joint work of a group of unmanned aerial vehicles (UAVs) capable of self-organization. The method of organizing the interaction of the UAV group in the environment by dividing the group into local subgroups is provided. The third section examines the method of determining the optimal number of UAVs N, which is controlled by one operator, calculates the traffic intensity in the communication channel, bandwidth and packet transmission delay. The main mathematical models influencing the control of a group of UAVs are studied, namely the method of determining the optimal number of unmanned aerial vehicles operated by one operator, calculation of traffic intensity and bandwidth in the communication channel, calculation of packet transmission delay in the network. According to the results conducted in the fourth section, regarding the simulation of the UAV-based network, it is shown that the developed model functions and provides data transmission of moderate quality from the source node to the ground station.