INFORMATION AND COMPUTATION TECHNOLOGIES

Simulation of the main stages of maintenance of unmanned aerial vehicles on the ground service platform

K. T. Ngo^ab, V. V. Nguyen^b, A. L. Ronzhin<sup>ba

a</sup> Institute for Informatics and Automation of the Russian Academy of Sciences, 199178, St. Petersburg, 14th line, 39
^b St. Petersburg State University of Aerospace Instrumentation, 190000, St. Petersburg, B. Morskaya St., 67

Abstract: The developed modelalgorithmic support for controlling the interaction of heterogeneous robotic systems during the servicing of unmanned aerial vehicles (UAVs) during group agricultural tasks is described. The main stages of UAV operation are presented when choosing a freetoservice groundbased robotic platform, exchanging energy and physical resources. Algorithms for changing UAV operating modes during servicing are considered. Recommended system AgrobotModeling is described, which provides a multicriteria assessment of the optimal number of UAVs and ground platforms needed to process a given area of a land.

Keywords: AgrobotModeling, maintenance of UAVs, ground-based robotic platform, AgrobotModeling, model-algorithmic support, optimal assessment.

UDC: 004.942

MSC: 68T40

DOI: 10.26117/2079-6641-2019-28-3-47-57