Biological algorithms of control of a flying robot

This paper considers a biologically inspired source-seeking algorithm in the system of three-dimensional spatial tracking based on biologically inspired behaviour-based approaches. Tracking system is a flying robot, for example, unmanned aerial vehicle or a multicopter. The flying robot searches hazardous pollutants in dangerous environments. The task of the flying robot is to find the source of invisible pollutions. Both the inertia of angle rotation and decision-making inertia have been added to the search algorithm. The inertia of decision-making of the flying robot operates like the cognitive inertia of natural organisms, which resists behaviour change and this resistance is defined by the coefficient of resistance to the changing control signal. In this work considers biologically-inspired behaviours of intellectual robots as a homeostatic system, in which typical modes of a robot behaviours, such as mutual search, neutrality, competition or pursuit are possible. The contribution of this paper is to propose discrete mathematical models of a robot's movements in the radiation field using evolution equations of biological systems and setting trends of step-by-step rotations in three-dimensional space. The aim of this work is to create a model of a changing control signal in searching movements of flying robots. We provide the simulation and experimental results using a proposed model, which shows the dependence of the flying robot tactics change on the coefficient of resistance to the changing control signal and shows the mutual search and neutrality modes for flying robots.