Система обходу навчальних перешкод безпілотним повітряним судном

Abstract

The problem of creating a system for simulating the flight of an unmanned aircraft or remotely piloted aircraft system between buildings is solved, which uses multi-mode flight control by dividing the trajectory of the unmanned aircraft into several sections. The boundaries of each section are presented in the form of additional intermediate points of the route. The developed system is used to visualize the flight of an unmanned aircraft. The problem statement for the system of bypassing polygonal obstacles is formulated. The simulation of the training flight trajectory of a remotely piloted aircraft system or unmanned aircraft between two specified destinations with the avoidance of obstacles of different sizes is considered, taking into account that the number of movements in real time should be minimized. An algorithm for controlling the flight of an unmanned aircraft along a given trajectory from one point to another has been developed. It is proposed to divide the given trajectory into several smaller parts and determine the boundaries of these newly created parts in the form of coordinates of destinations. An algorithm and a block diagram of the algorithm for bypassing obstacles of different sizes have been developed. Simulations are performed and experimental results are given. The proposed method is designed to implement movement on a given trajectory with a given speed and power required to transmit information. The simulation results show the effectiveness of the algorithm for modeling the flight path, its re-planning when detecting obstacles of various shapes.