Optimization of the quantitative composition and flight routes of the light unmanned aerial vehicles group

Аuthors

Kalashnikov A. I.^*, Moiseev D. V.^**, Zonov N. I.^***

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: alex-aka@mail.ru
**e-mail: moiseev801@mail.ru
***e-mail: navicontr@mail.ru

Abstract

The article formulates, investigates and solves the optimization problem of determining the quantitative composition and flight routes of a group of light drones, taking into account the action of the wind. A technique is proposed that provides for the formulation and solution of this problem as a two-criterion Boolean linear programming problem. The number of UAVs and the time of flight around the group of objects with specified locations, were considered as the criteria to be minimized. The proposed technique provides for finding the optimal Pareto set of solutions, followed by its analysis and narrowing. It is shown that this set has characteristic features that make it relatively easy in the future to make informed recommendations on choosing a specific rational solution from it. Given that both criteria are minimized, the desired solution corresponds to the "south-western" boundary of the reachability set. The key result of analyzing the obtained boundaries of the accessibility sets is that, regardless of wind speed and direction, as well as the number of points connected by routes, they have a number of common properties. First, the time to complete a mission to fly around all specified points, all other things being equal, is a non-increasing function of the number of UAVs in the group. Secondly, starting with a certain number of vehicles in a group, a further increase in the size of the group ceases to lead to a noticeable decrease in mission completion time. Thus, it is proposed to formulate and solve the problem of routing the flight of a group of UAVs simultaneously with determining its quantitative composition. Methodically, this corresponds to a systematic approach aimed at increasing the target effectiveness of the UAV group at the same time as a possible decrease in its number. The influence of the constant wind for the flight zone on the obtained results was also investigated. The simulation confirmed the operability of the proposed methodology and the software and algorithmic support implementing it.

Keywords:

group of drones, flight route planning, Pareto optimal set, two criteria

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