A method for controlling groups of unmanned aerial vehicles in a virtual environment using haptic gloves

Abstract

Abstract The development of control of unmanned aerial vehicles (UAVs) is caused by the lack of developments that allow you to perform a fully autonomous flight to the target position with automatic bypass of static and dynamic obstacles. To ensure the correct execution of the flight task, many methods and algorithms have been developed, however, almost all of them are designed only for performing the UAV flight task in manual or semi-automatic mode. However, there are no widely available developments that allow you to perform a fully autonomous flight. Also, existing UAV control systems have low interactivity, due to the fact that the operator uses a two-dimensional map to control the UAV and also most often one joystick to control one UAV. Based on this, the purpose of this work is to increase interactivity and visibility in the management of UAV groups by developing a system for forming a flight task and control in a virtual environment using haptic gloves. The creation of a system for forming a flight task and managing groups of UAVs will allow the use of UAVs in various areas of human activity, including in conditions that are dangerous to human health and life. The description is presented, both mathematical and software. The advantages, disadvantages and limitations of the proposed method are analyzed.