SYSTEM FOR SIMULATION OF OVERCOMING OBSTACLES AND ORGANIZING COMMUNICATIONS IN HAZARDOUS ENVIRONMENTS: STRUCTURE AND EXPERIMENTAL EVALUATION
DOI:
https://doi.org/10.26906/SUNZ.2025.3.128Keywords:
simulation, unmanned aerial vehicles, UAV swarm deployment, hazardous environment, routing, paths, obstacle avoidance, communications, Li-Fi, Panda3D, cyber-physical impactsAbstract
The paper presents a comprehensive simulation system for overcoming obstacles and organizing communications in hazardous environments using UAV swarms. The proposed models of environment, obstacles, dynamic influences, and UAVs enable the reproduction of scenarios in destroyed or hard-to-reach indoor areas, considering static and dynamic objects as well as cyber-physical impacts. The simulator architecture is implemented in Python with the Panda3D engine and integrated with data collection and analysis tools (InfluxDB, Grafana, Docker), providing flexible configuration of parameters and reproduction of diverse scenarios. The paper presents experimental results demonstrating the efficiency of routing algorithms (A*, Greedy BestFirst, etc.) and swarm coordination for deploying a Li-Fi-based communication chain. It is shown that the system serves as a valuable research and training tool for testing algorithms, analyzing swarm reliability, evaluating energy efficiency, and resilience to cyber impacts. Future development perspectives include integration with ROS, extension of the sensor library, and modeling of network-level communication protocols.Downloads
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