The problems of multi-point route planning and rule-based trajectory tracking for an autonomous UAV under wind loads
Михаил Вячеславович Хачумов · 2018
We consider the problems of planning a route between two given points and controlling autonomous unmanned aerial vehicle (UAV) motion along the obtained path under wind disturbances. UAV route must pass through all reference points from a given set. The distance matrix containing information about the distances and impassable obstacles between reference points is given. The route planning task is complicated by the presence of wind flows that affect the speed and trajectory of an aerial vehicle. Time cost required to move between points is suggested as a generalized optimization criterion. Quasi-optimal route planning algorithm is proposed that use the Hungarian method for the assignment problem as an auxiliary tool. The problem of controlling UAV motion under wind loads comes down to that of pursuing a pseudo-target which simulates ideal motion. A scheme was proposed of an intelligent control system that selects control strategy according to the current state of the system. The general simulation scheme of the route tracking process that contains the mathematical models of the aircraft and wind loads is given. Simulating aircraft motion in an uncertain environment is performed with allowance for the constant and dynamic (random) components of wind flows.