Analysis of «Leader – Followers» Algorithms in Problem of Trajectory Planning for a Group of Multi-rotor UAVs

Lebedev, Igor; Izhboldina, Valeriia

doi:10.1007/978-3-030-90318-3_68

Cited by 3 publications

(1 citation statement)

References 20 publications

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“…Результаты экспериментов. Для апробации предложенных алгоритмов было проведено моделирование движения группы БпЛА мультироторного и самолетного типов и отработки кризисной ситуации по управлению группой БпЛА на основе информации о запасах энергетических или топливных ресурсов [17][18]. Моделирование группового полета по предложенной стратегии и алгоритмам отработки кризисной ситуации проводилась в среде для моделирования Gazebo.…”

Section: рис 4 алгоритм возврата бплаunclassified

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Savelyev¹,

Lebedeva²,

Lebedev³

et al. 2022

IZVESTIYA SFedU. ENGINEERING SCIENCES

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Section: рис 4 алгоритм возврата бплаunclassified

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Savelyev¹,

Lebedeva²,

Lebedev³

et al. 2022

IZVESTIYA SFedU. ENGINEERING SCIENCES

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Artificial Intelligence Systems for Solving Problems of AgroIndustrial Complex Digitalization and Robotization

Ronzhin

Savel'ev

2022

S-h. maš. tehnol.

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The digital transformation of agricultural technological processes is substantiated to be relevant in the context of the exacerbating global problems of food security, the agricultural business stagnation in the regions of the northern Non-Black Earth Region, as well as the ESG transformation of the economy.Research purpose To develop control algorithms for unmanned aerial vehicles (UAVs) based on numerical methods of machine learning to ensure the monitoring of the crops state and the improving of the production process planning and operational management.Materials and methods The following methodology was used: the original methods of machine learning, knowledge engineering and computer modeling for organizational and technological processes of technical objects’ life cycle in industry and products’ life cycle in the national economy, as well as mathematical and algorithmic models, methods and prototypes of proactive automation tools for information, physical and energy interaction of heterogeneous robotic and cyber-physical complexes.Results and discussion Artificial intelligence systems were created for the photogrammetric processing of visible spectrum images and those taken with multispectral video cameras with the construction of orthophotomaps, digital elevation models. Machine learning numerical methods were applied. Possible ways of formulating recommendations for the land revegetation and amelioration were demonstrated. Algorithmic software and hardware have been developed for the automation of vertical farms, closed cycle fish farming plants. The authors carried out wireless registration of measured and calculated parameters received from the distributed sensors, conducted their analysis based on big data technologies and proactive control of cyber-physical devices responsible for the functioning of the aqua and phytocultures life support systems. The authors provided the examples of produced UAVs and attachments designed for processing the agricultural land, as well as examples of automation modules for vertical farms that provide proactive autonomous control.Conclusions It was determined that the developed software and hardware ensured a 6-percent increase in the residual charge of the UAV battery after the flight. Image analysis using a multispectral camera improved the accuracy of identifying the plant areas with phytopathologies up to 99 percent.

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A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem

Wang,

Yang,

Bai

et al. 2023

Sensors

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Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for large and complex systems, the traditional control methods will be invalid when faced with unstable and changing environments. To deal with the poor self-adaptability and high requirements for the environmental state information of traditional control methods for a multi-UAV cluster, this paper proposes a consistent round-up strategy based on PPO path optimization to track targets. In this strategy, the leader is trained using PPO for obstacle avoidance and target tracking, while the followers are expected to establish a communication network with the leader to obtain environmental information. In this way, the tracking control law can be designed, based on the consistency protocol and the Apollonian circle, to realize the round-up of the target and obstacle avoidance. The experimental results show that the proposed strategy can achieve the round-up of the target UAV and guide the pursuing multi-UAV group to avoid obstacles in the absence of the initial detection of the target. In multiple simulated scenarios, the success rates of the pursuit multi-UAV cluster for rounding up the target are maintained above 80%.

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Analysis of «Leader – Followers» Algorithms in Problem of Trajectory Planning for a Group of Multi-rotor UAVs

Cited by 3 publications

References 20 publications

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Artificial Intelligence Systems for Solving Problems of AgroIndustrial Complex Digitalization and Robotization

A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem

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Analysis of «Leader – Followers» Algorithms in Problem of Trajectory Planning for a Group of Multi-rotor UAVs

Cited by 3 publications

References 20 publications

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Uav Group Management When Working Out of Crisis Flight Situations in Solving Transport Problems

Artificial Intelligence Systems for Solving Problems of Agro­Industrial Complex Digitalization and Robotization

A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem

Contact Info

Product

Resources

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Artificial Intelligence Systems for Solving Problems of AgroIndustrial Complex Digitalization and Robotization