РЕАЛІЗАЦІЯ ОПТИМАЛЬНОЇ РЕКОНФІГУРАЦІЇ РОЮ БПЛА

Now the use of copter-type UAVs in various sectors of the economy is economically justified and sometimes has no alternative. The next step toincrease the efficiency of such technology is the use of groups of UAVs united by a single task. If such groups contain a large number of deviceslocated quite densely, they are called swarms. A clear, well-known example of the use of swarms of quadcopters is the creation of visual images in thesky and their transformation according to a certain program. Obviously, the possibilities of such structures are much wider and they have very goodprospects in the future. But in order to realize such opportunities, it is necessary to solve a number of problems, starting with methods of obtaining andexchanging current information between group members, ending with strategic planning and operational management of individual devices. Thesetasks are burdened by additional conditions of safety and optimal functioning. This article considers the modeling of the optimal reconfiguration of alarge group of UAVs from the actual initial state to the desired final state. For each device, the final point to which it will move is determined. Such aproblem does not have a unique solution, therefore an optimality criterion was added – the duration of complete reconfiguration, which must beminimized. The task is considered under conditions of the same and constant flight speed of all copter-type UAVs. Analysis of all options isimpossible, because the computational complexity of such a method is proportional to the N factorial, where N is the number of UAVs in the group. Aquasi-optimal method has been developed, the complexity of which is proportional to N. Statistical modeling has proven its effectiveness, which canbe compared with the effectiveness of the optimal method. Indirect estimates of its effectiveness in the general case were also obtained. Specificexamples of swarm reconfiguration are considered. The algorithm for preventing collisions of UAVs while moving along designated trajectories isdescribed and studied. The obtained results are an integral part of the set of tasks for navigation and control of UAVs in the conditions of a large densegroup.