Management řízení skupiny malých UA při provádění společných pátracích a monitorovacích úkolů

Abstract

The main target of this thesis is to suggest a theoretical procedure of flight and actions of group of unmanned aircrafts during searching for missing persons. The manners in which the problems are currently dealt with are analysed and also are given some suggestions on a solution. The thesis contains algorithms of procedures for: • Search on theoretical, statistical and subjective-deductive determined search areas • Design of the search flights trajectory for the relevant search area • Activities of UA in the actual search The thesis also contains verification of the mentioned algorithms and in a case study is discussed. It is taken from the perspective of feasibility of the suggested algorithms and from the solutions of the theoretical routing of the whole group, groups and also of each UA on the flight routes with increased containment probability density. A case study helps us to investigate the issue from the perspective of time demands of individual typology shapes of flights (flight patterns) for search. The highlight of the theses is the design of a search model in specific areas with increased density of probability of containment based on mathematical programming. The designed mathematical model is practically tested using a software application called Xpress. The results confirmed its correctness. The proposed mathematical model, as well as utilization of findings of graphs theory, allows potential search teams, using groups of small unmanned aircraft for search for missing persons, to accelerate and streamline planning of search operations. In cases where it is necessary to do the search by searching places with increased density of probability of containment of missing persons, the model suggests an optimal and fastest variant of search, and the time obtained by this optimization in many cases means saving of missing people’s lives. In contrast to the current status today’s unmanned systems are mainly used for military purposes, however, with the growing number of suitable UAS designs it will increase its civilian use e.g. for flights monitoring of linear structures, search and rescue operations and other operations of humanitarian character (during floods or earthquakes). The designed mathematical model can be used for operations of different kinds of unmanned vehicle groups (ground vehicles, vessels or submarines) and in which the present mass deployment of unmanned systems is more efficient, cheaper and safer than using existing manned systems.