MODELING THE DYNAMICS OF A DRONE GROUP USING THE OPEN GYM-PYBULLET-DRONES PLATFORM

This paper examines the simulation environment gym-pybullet-drones, an open-source platform designed for robotics specialists as a tool for modeling quadcopter dynamics and developing control algorithms. The study includes simulations of drone group dynamics to assess the functionality and stability of a PID controller. The modeling was conducted under two scenarios: (1) three drones moving in a circular trajectory at different altitudes in the same direction, and (2) two drones following a sinusoidal trajectory at different altitudes in opposite directions. In both scenarios, the influence of aerodynamic effects (downwash effect) on the dynamics of the studied objects was considered. The analysis demonstrated that the PID controller ensures stable trajectory tracking, but external disturbances, such as aerodynamic effects, introduce corrective oscillations in motion parameters. The study of descending airflows showed a significant impact on the lower quadcopter, manifested in altitude fluctuations, orientation angle variations, and changes in motor rotation speeds. The results confirm the feasibility of using gym-pybullet-drones for evaluating and optimizing drone control systems, which is particularly relevant for the development of multi-agent unmanned aerial vehicle (UAV) systems.