Open AccessAlgorithm for Numerical Calculations of Robotic Group Movement During Transport Mission
Author(s) -
Roman Meshcheryakov,
Alexander Salomatin,
D.V. Senchuk
Publication year - 2021
Publication title -
izvestiâ altajskogo gosudarstvennogo universiteta
Language(s) - English
Resource type - Journals
eISSN - 1561-9451
pISSN - 1561-9443
DOI - 10.14258/izvasu(2021)1-19
Subject(s) - computer science , range (aeronautics) , matlab , visibility , roof , simulation , algorithm , real time computing , aerospace engineering , engineering , structural engineering , physics , optics , operating system
The paper considers an algorithm for searching for the time of residential roof inspection using an unmanned aerial system, which incorporates unmanned aerial vehicles (UAV) of a multicopter type with a thermal imaging device as a transporting load. Algorithms and their implementation for the problem are considered. The problem of multicopter group movement with restrictions on load, range, roof height and other characteristics is solved. An original algorithm for the system functioning is proposed and justified. The advantage of the algorithm is a quick solution search, visibility and the ability to be verified by the user. There are some disadvantages, such as the resulting solution being suboptimal, the memory complexity growing exponentially, and the UAV charging time being out of consideration (in the absence of a replacement battery). The algorithm is implemented in the MatLab environment, and the example of calculations is presented, the computational experiment is conducted. In further research, it is planned to introduce a larger number of restrictions and conditions and also to test the dynamic change in logistics routes for UAV failures.