Logic control system to avoid obstructions unmanned aerial vehicle during cross-country flights

Аuthors

Lebedev G. N.^*, Roumakina A. V.^**

,

*e-mail: kaf301@mai.ru
**e-mail: dolgova-221@mail.ru

Abstract

At present existing of the approaches to the solution of a problem of planning of a route for flight, first of all, need to belong to process of serial flight and supervision of motionless objects. However in these methods the insufficient attention is paid to a choice of a route of flight of the obstacles which are, especially, arising during flight, in other words those, information about which is not laid into the memory of computer (high speed digital computer) before a departure. The special feature of this question in relation to the unmanned aerial vehicles (UAV) that in case of sudden changes of a dynamic situation of flight plan has to be carried out without participation of the person in the automatic mode. The purpose of this work is to develop of the logical control system of route of flight of the unmanned aerial vehicle focused on flight of obstacles in a route information about which is known in advance or comes to flight time, and the planned points of a route are fixed.

Is formulated the formulation of the problem of logical control of cross-country flight (UAV) with the circuit of obstacles and are introduced the concepts of most logical control and designation of settings into the regulators of the channels of the longitudinal and yawing motion (UAV).

Is developed the algorithm of logical control of multimode over flight BLA of one point in another during the automatic partition of trajectory into a number of sections with its regimes and determination of the boundaries of these sections in the form of the coordinates PPPM (an intermediate point of the planned route), which supplement the list of basic PPM (point of the planned route), entering the flight mission (flight plan).

Is shown that at flight of obstacles the developed algorithm in real time forms a piecewise and linear trajectory of round of tops of this obstacle that corresponds to numerous reassignment of settings in regulators of management of lateral motion of (UAV).

The computer simulation of cross-country flight taking into account obstacles showed the high speed operation of algorithm on board (UAV), and also the ability to form operational reporting about the facts of encounter with the obstacle, the selection of the version of actions and to report the coordinates of newly assigned PPPM for the delivery(transmission) to the earth.

Keywords:

unmanned flying vehicle, obstacle avoidance, an intermediate point of the planned route, fixed-route flight

References

1. Lebedev G.N., Mirzoyan L.A. Aviakosmicheskoe priborostroenie, 2005, no. 12, pp.7-11

2. Lebedev G.N.,Rumakina A.V. Aviakosmicheskoe priborostroenie, 2014, no. 5, pp. 3-8.

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