Adaptive Algorithm for Flight Restructuring of a Group of Unmanned Aerial Vehicles

The article investigates the problem of synthesizing an adaptive UAV spatial restructuring algorithm that implements the control vector of unmanned vehicles. The synthesis of the algorithm is based on the implementation of the condition of the minimum energy expended, which characterizes the energy potential of the group in the process of restructuring (the force control vector). A non-stationary variant is considered, due to the variable external conditions of the group. Accordingly, for the synthesis of the restructuring algorithm, a non-stationary model is proposed, the parameters of which ensure the fulfillment of the condition for minimizing the energy costs of the UAV group