SungTae Moon

10.5626/JOK.2022.49.6.459

Hungarian algorithm Swarming flight RTK-GPS PX4

The drone show impressed people through the convergence of technology and art in the sky during 2018 Pyeongchang Winter Olympics. For the stable swarm flight, the system should consider efficient communication, accurate position estimation, and fast and efficient scenario without collision between drones. Especially, the scenario transformation algorithm is a core technology of the drone show, and can be performed as an assignment problem. Hungarian algorithm is commonly used for the assignment problem. However, Hungarian algorithm is not suitable for formation transformation of the swarm flight, because the battery usage of individual drones is not taken into account. Thus, an increase in the amount of movement of some drones increases battery consumption and reduces operating time. In this paper, the fair Hungarian algorithm is proposed to increase operating time considering fair battery consumption. The proposed algorithm was verified using the swarming flight system at a drone show performed with 100 drones.