msiСовременная наука и инновацииModern Science and Innovations2307-910XNorth-Caucasus Federal University10.33236/2307-910X-2020-2-30-52-56msi-203Research ArticleТЕХНИЧЕСКИЕ НАУКИ. ИНФОРМАТИКА, ВЫЧИСЛИТЕЛЬНАЯ ТЕХНИКА И УПРАВЛЕНИЕTECHNICAL SCIENCES. INFORMATION, COMPUTING AND MANAGEMENTМОДЕРНИЗИРОВАННЫЙ МЕТОД КОНТРОЛЯ ГРУПП КВАДРОКОПТЕРОВTHE UPDATED METHOD OF CONTROL OF GROUP OF QUADROCOPTERSСамойловФ. В.SamoilovP. V.saml92@yandex.ruГаньшинК. Ю.GanshinK. Y.magnuskos@gmail.comМезенцеваО. С.MezentsevaO. S.omezentceva@ncfu.ruВинокурскийД. Л.VinokurskyD. L.dlvinokursky@gmail.comСеверо-Кавказский Федеральный УниверситетРоссияNorth-Caucasus Federal UniversityRussian Federation202004082022025560Copyright © Самойлов Ф.В., Ганьшин К.Ю., Мезенцева О.С., Винокурский Д.Л., 20222022Самойлов Ф.В., Ганьшин К.Ю., Мезенцева О.С., Винокурский Д.Л.Samoilov P.V., Ganshin K.Y., Mezentseva O.S., Vinokursky D.L.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://msi.elpub.ru/jour/article/view/203

В статье представлен метод управления роем квадрокоптеров. Для координации группы необходимо формировать пространственную программную траекторию БПЛА с помощью соответствующего закона управления. Вводится понятие координированного разворота, который позволяет получить аналитические уравнения пространственных движений, выраженных через определение вектора скоростей и угла рыскания. Метод был протестирован в симуляторе Gazebo. Результаты используются для пространственных перемещений групп квадрокоптеров.

In this article, the method of swarm control was presented. To coordinate the group, the spatial trajectory of UAV has to be implemented by applying efficient control law. The principle of coordinated rotation has been introduced. The coordinated rotation allows receiving analytical equations of spatial motion which are represented within defining of the vector of velocity and yaw angle. The method was evaluated in Gazebo simulator. All results were utilized to move the group within the environment.

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The authors declare that there are no conflicts of interest present.