Annotation

Annotation: The research aimed at developing a model for the organization of interaction between onboard software systems of unmanned aerial vehicles in the group and with the control point under conditions of unstable information exchange caused by the use of a group of unmanned aerial vehicles during search and rescue operations in mountainous terrain has been carried out. The statement of the problem of developing a model for the organization of interaction between onboard software systems of unmanned aerial vehicles in a group and with a control point isformalized and the main requirement to the elements of this model - the ability to ensure interaction in conditions of unstable information exchange - is formulated. The analysis of the existing approaches to the solution of the indicated problem has been carried out, the results of which allowed to make a reasonable choice of the elements of the model of organization of interaction of onboard software systems of unmanned aerial vehicles in a group and with a control point in conditions of unstable information exchange: as a software environment of interaction it is advisable to use the ROS (Robot Operating System) platform; for transmission of visual information (video streams and image frames) it is necessary to use the HLS (HTTP Live Streaming) protocol; the MAVLink (Micro Air Vehicle Link) protocol is acceptable for control commands, and the MQTT (Message Queuing Telemetry Transport) protocol is acceptable for the exchange of service information (messages); the communication interfaces are determined by the ROS platform used. The model of organization of interaction between onboard software systems of unmanned aerial vehicles in a group and with the control point in conditions of unstable information exchange on the basis of ROS platform with the use of libraries and packages that allow to implement interfaces of interaction and carry out interaction of software systems through the use of MAVLink, MQTT and HLS data transfer protocols capable of working in conditions of interruptions in communication is developed. Examples of application of MAVLink and MQTT data exchange protocols for practical implementation of the organization of interaction of onboard software systems of unmanned aerial vehicles in a group and with a control point on the basis of ROS platform are considered, confirming the efficiency and flexibility of application of this platform for solving the indicated problem, as well as the expediency of practical application of the developed model of the organization of interaction of onboard software systems of unmanned aerial vehicles in a group and with a control point in conditions of unstable conditions.