Simulation of Flight Control of Two UAVs Based on the "Master-Slave" Model

The object of consideration is the process of planning a group flight of unmanned aerial vehicles (UAVs). The goal is to improve the quality of the mission by two UAVs by monitoring the observance of the distance and flight time on a given hardware platform. The levels of control of an individual UAV were classified and the levels of organization of a group UAV flight were considered. The following tools were used to organize the "master - slave" group flight such as the "master - slave" structural model, the "follow the leader" algorithm, and simulation methods. The advantages of the modern modeling tool CoppeliaSimEDU are considered. Such results as classification of UAV group flight based on the existing classification of UAV autonomy levels; a model that simulates the flight of two UAVs of the flying wing type based on the "master - slave" model were obtained. The scientific novelty of the work lies in the fact that the "master - slave" model was further developed based on the application for flight simulation in the existing simulation tool CoppeliaSimEDU. This will allow varying the parameters of the group work before flying on real equipment. A patent "Visualization of the flight of unmanned aerial vehicles according to the "master - slave" model" was obtained for the developed program.