novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.26.316-325novtexmech-1773Research ArticleДИНАМИКА, БАЛЛИСТИКА, УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВDYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFTПоиск нестационарного объекта роевой системой мультикоптеров на основе метода квазитеплового движенияSearch of Non-Stationary Object by Multicopter Swarm Based on Thermal Motion Equivalent MethodГейсЭ. А.HeissE. A.

Мл. науч. сотр. 

Тула

Postgraduate Student 

Tula, 300012 

edheiss73@outlook.comКозырьА. В.KozyrA. V.

Канд. тех. наук, ст. науч. сотр.

Тула

Tula, 300012 

Kozyr_A_V@mail.ruМорозовО. О.MorozovO. O.

Канд. тех. наук, доц. 

Тула

Tula, 300012 

omo@sau.tsu.tula.ruФГБОУ ВО "Тульский государственный университет"РоссияTula State UniversityRussian Federation202505062025266316325Copyright © Commercial Publisher «New Technologies», 20252025Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1773

Решается задача поиска нестационарного объекта в ограниченной топологически замкнутой области многоагентной системой летательных аппаратов квадрокоптерного типа. В качестве алгоритма управления многоагентной системой предлагается метод квазитеплого движения (МКТД). Идейно МКТД основан на поведенческом повторении движения частиц газа, где с помощью уже известных из термодинамики интегральных параметров, таких как среднеквадратичная скорость, частота взаимодействий, оценивается устойчивость системы и качество решения поставленных перед роем задач. Условная аналогия движений летательных аппаратов с молекулярной динамикой в МКТД обеспечивается системой управления каждого агента, которые могут информационно взаимодействовать друг с другом. В работе показана эффективность применения метода МКТД к поиску динамической цели в ограниченном пространстве на основе многочисленных моделирований в специально разработанной среде MASPlatform, представляющей виртуальный полигон. В программном обеспечении MASPlatform реализовано движение тридцати агентов в пространстве размером 300 на 300 м. Динамика каждого агента описана системой нелинейных дифференциальных уравнений с кватернионным регулятором. На основе многочисленных моделирований поисковой задачи МКТД делается вывод об эффективности.Получены оценки численности роя в зависимости от пространства поиска. Предложен подход к оценке времени поиска роевой системой, функционирующей в режиме МКТД, нестационарного объекта с известной динамикой в ограниченном пространстве на основе термодинамического параметра "средняя длина свободного пробега". Данный параметр важен для реальных систем, где есть ограничения энергетического ресурса агента.

The paper presents the issue result of searching a non-stationary object in a topologically closed bounded area by a multi-agent system of quadrocopter-type aircraft. Thermal motion equivalent method (TMEM) method is proposed as a control algorithm for the multi-agent system. The TMEM is based on the similarity of the motion of molecules. In the case of TMEM it is possible to estimate swarm stability and performance of swarm problem solving using integral parameters already known from thermodynamics: RMS velocity, frequency of interactions and others. The aircraft motion similar to a molecular dynamic in TMEM is provided by the control system of each agent interacted with others by data exchanging. The paper demonstrates the effectiveness of applying the TMEM method to the search for a dynamic target in a bounded area based on numerous simulations in a specially designed MASPlatform environment representing a virtual polygon. The MASPlatform software implements the motion of thirty agents in a space of 300 by 300 meters. The dynamics of each agent is represented by a system of nonlinear differential equations with a quaternionic controller. The inference of efficiency is made based on multiple simulations of the ICD search issue.In this paper, estimates of swarm numbers as a function of the search space are obtained. The paper proposes an approach to estimating the search time of a non-stationary object with known dynamics by a swarm, whose agents interact using TMEM in a bounded area, based on the thermodynamic parameter "mean free path length". This parameter is important for real systems where there are constraints on the agent’s energy resource.

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