Particle swarm motion synchronization based on the surface graph

The paper considers the task of controlling a group of unmanned aerial vehicles (UAVs) to organize swarm movement along a given trajectory, ensuring the most efficient achievement of the flight goal. The issues of choosing a mathematical model of spatial motion of a group of UAVs suitable for solving the problem of synthesis of coordinated control of the whole set of aircraft are studied. Considering the specificity of requirements to the spatial and temporal position of individual UAVs in the group, it is proposed to use a model with leaders planning the swarm movement route in accordance with the given task. For the first time proposed the original description, implementation and realization of swarm intelligence algorithms of swarm intelligence with the use of methods of system analysis is developed, and the terminology and system of conventional designations unified for swarm algorithms that allows to carry out classification of swarm algorithms, to allocate their general distinctive features. The expediency of metaphorical algorithms of swarm intelligence based on the original method of evolutionary adaptation of values of their heuristic parameters for separate types of solved problems is shown. The created mathematical model of realization of metaphorical algorithms of swarm intelligence for the solution of navigation problems of UAV systems forms the basis for development of an alternative to satellite navigation and estimation and refinement of UAV swarm positioning at the expense of ephemerides and almanacs in the fields of their application.