The method for the formation of the control of the trajectory of a quadrocopter when flying from one point to another in a dense urban development is considered. The trajectory control algorithms are worked out on a quadrocopter model, taking into account the aerodynamic forces and moments related to the flow around the vehicle and those created by the propellers of the engine. It is assumed that the flight takes place at a constant altitude along the route obtained during the preparation of the flight task. The route is set using waypoints. Route planning is performed in a rectangular coordinate system using a "digital safety map," which is a grid in this coordinate system with the same discreteness along both axes. At each node of this map, the minimal distance to the nearest obstacle is calculated, and this value is assigned to the node as a safety measure when the aircraft is in it.
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