INVESTIGATION OF A DISTRIBUTED SYSTEM OF CHARGING STATIONS FOR THE POWER SUPPLY OF A GROUP OF MULTICOPTER-TYPE UAVS
Abstract
Due to the accelerated growth in the use of groups of autonomously functioning unmanned aerial vehicles (UAVs) in various environments, solving the problem of optimizing the functioning of groups of such vehicles according to the criterion of the minimum energy consumed is an urgent scientific task. In this article, a new approach is being developed to ensure energy saving of a group of unmanned aerial vehicles (UAVs) by using a distributed system of UAV charging modules that provide the necessary versatility in servicing different types of vehicles. It is assumed that the charging modules are installed at a subset of service stations, between which multicopter-type UAVs ply, carrying out a cargo delivery mission. It is necessary to determine such a number and adirectly specified subset of service stations equipped with such modules that would deliver the optimum of some quality functional characterizing the functioning of a group of UAVs. The article suggests as such a functional the ratio of the number of UAVs that have successfully fulfilled the tasks assigned to them for the delivery of goods to the number of stations with charging modules. The model of UAV movement between destinations assumes taking into account not only the cruising mode, but also the maneuvering of the device during takeoff and landing; the dependence of the energy consumption rate on the current kinematic values of the device is also taken into account. It is envisaged that the device will fall if it consumes energy below the maximum threshold value. A simplified model of a service station with a charging module (CM) has been developed, implying the replacement of discharged batteries. The waiting mode of the UAV in the queue is taken into account. To study the developed algorithms for motion planning and choosing the optimal distribution of charging modules across service stations, software based on the Unity environment has been created and tested. The flexibility of the latter allows modeling various algorithms of information interactions of elements within a group of UAVs, a group of CM, as well as cross-interactions between UAVs and CM.
References
apparatov s ispol'zovaniem komp'yuternogo zreniya [Automatic landing of small unmanned
aerial vehicles using computer vision], Doklady TUSUR [Proceedings of TUSUR University],
Issue No. 3, Vol. 20, pp. 191-196.
2. Ngo K.T., Nguen V.V., Khar'kov I.Yu., Usina E.E., Shumskaya O.O. Funktsional'naya model'
vzaimodeystviya BLA s nazemnoy robotizirovannoy platformoy pri reshenii
sel'skokhozyaystvennykh zadach [A functional model of UAV interaction with a ground-based
robotic platform in solving agricultural problems], Izvestiya Kabardino-Balkarskogo
nauchnogo tsentra RAN [Izvestiya Kabardino–Balkarian Scientific Center of the Russian
Academy of Sciences], 2018, Issue 6-3, pp. 41-50.
3. Musa Galimov, Roman Fedorenko, and Alexander Klimchik. UAV Positioning Mechanisms in
Landing Stations: Classification and Engineering Design Review. Available at:
https://www.researchgate.net/ publication/342538741_UAV_Positioning_Mechanisms_in_ Landing_
Stations_Classification_ and_Engineering_Design_Review.
4. Gabdullin Aydar Rinatovich, Galimov Musa Muzagitovich, Klimchik Aleksandr Sergeevich.
Posadochnaya platforma dlya bespilotnogo letatel'nogo apparata [Landing platform for unmanned
aerial vehicle]. Patent No. RU 2710887 C1. 2020.
5. Gabdullin Aydar Rinatovich, Galimov Musa Muzagitovich, Klimchik Aleksandr Sergeevich.
Posadochnaya platforma dlya BpLA vertikal'nogo vzleta i posadki [Landing platform for vertical
take-off and landing UAVs]. Patent RU 2722249 C1. 2020.
6. HEISHA DNEST2, Heisha Technology. 23.03.2022. Available at: https://www.heishatech.com/
solutions/dnest-hardware-for-drone-in-a-box-solution/ (accessed 23 March 2022).
7. Patent US9387928B1. Multi-use UAV docking station systemis and methods. Jul. 12, 2016.
8. Patent US 9,139,310 B1. Systems and methods for UAV battary exchange. Sep. 22, 2015.
9. Patent WO 2016/113766. Al electrically charging system for drones. 7 January 2016
(07.01.2016).
10. Fetisov V.S., Akhmerov Sh.R., Sizonenko R.V. Intellektual'naya kommutatsiya bortovykh
posadochnykh elektrodov BpLA s otkrytymi kontaktnymi ploshchadkami zyaryadnoy
platformy [Intelligent switching of on-board landing electrodes of a UAV with open contact
pads of a vertical platform], Vtoroy Vserossiyskiy nauchno-prakticheskiy seminar «bespilotnye
transportnye sredstva s elementami iskusstvennogo intellekta» [The second All-Russian scientific
and practical seminar "Unmanned transport vehicles with elements of artificial intelligence"],
2015, pp. 115-122.
11. Shirokov I.B., Shirokova E.I., Azarov Andrey Andreevich. Sistema besprovodnoy peredachi energii
[Wireless energy transmission system], Infokommunikatsionnye i radioelektronnye tekhnologii
[Infocommunication and radioelectronic technologies], 2019, Vol. 2, No. 3, pp. 380-389.
12. Kostyukov V.A., Medvedev M.Yu., Butenko M.Yu., Gistsov V.G., Evdokimov I.D. Apparatnoalgoritmicheskoe
obespechenie perspektivnoy sistemy energosberezheniya avtonomnoy
gruppy BpLA [Hardware and algorithmic support for a promising energy saving system for an
autonomous group of UAVs], Izvestiya YuFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering
Sciences], 2022, No. 5, pp. 230-243.
13. Vikas Hassija, Vinay Chamola, Dara Nanda Gopala Krishna and Mohsen Guizani. A Distributed
Framework for Energy Trading Between UAVs and Charging Stations for Critical Applications.
Fellow IEEE, 2020.
14. Li Li, Jie Wu,Yixiang Xu, Jun Che, Jin Liang. Energy-controlled Optimiza-tion Algorithm for
Rechargeable Unmanned Aerial Vehicle Network, 2017 12th IEEE Conference on Industrial
Electronics and Applications (ICIEA), 2017, Vol. 43, pp. 1337-1342.
15. Kostyukov V.A., Pshikhopov V.Kh. The system of decentralized control of a group of mobile
robotic means interacting with charging stations, Sb. trudov "Frontiers in Robotics and
Electromechanics" [Collection of works "Frontiers in Robotics and Electromechanics"]. Izd-vo
Springer, 2022 (accepted for publication).
16. Narayanan Ragkhu (Raghu Nurayanan). Vybor katushek dlya besprovodnykh zaryadnykh
ustroystv [Selection of coils for wireless chargers], Komponenty i tekhnologii [Components
and technologies], 2015, No. 9.
17. Fetisov V.S., Novikova K.O., Ovchinnikov A.V. Podzaryadka bespilotnykh letatel'nykh
apparatov s vertikal'nym vzletom-posadkoy na kontaktnykh platformakh s adaptiruemoy
shirinoy kontaktnykh polos [Recharging unmanned aircraft vehicles with vertical take-off and
landing on contact platforms with adaptable contact band width], Elektrotekhnicheskie i
informatsionnye kompleksy i sistemy [Electrical and information complexes and systems],
2023, Vol. 19, No. 2, pp. 80-89. ISSN 1999-5458 (print).
18. Semenov A.G. Stantsiya avtomaticheskoy zameny akkumulyatorov dlya bespilotnykh
letatel'nykh apparatov (BPLA) i sposob ee ispol'zovaniya [Automatic battery replacement station
for unmanned aerial vehicles (UAVs) and method of its use]. Patent RU 2018129276,
09.08.2018.
19. Venttsel' E.S. Teoriya veroyatnostey [Probability theory]. Moscow: Izd-vo «Nauka», 1969,
576 p.
20. Stentz A. Optimal and efficient path planning for partially known environments, In Intelligent
Unmanned Ground Vehicles. Springer, Boston, MA, USA, 1997, pp. 203-220.
