Abstract

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.

中文翻译：

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在城市中准备和操作直升机飞行

摘要

考虑了在密集的城市发展中从一个点飞行到另一个点时形成控制四轴飞行器轨迹的方法。轨迹控制算法是在四轴飞行器模型上制定的，考虑到与车辆周围流动相关的空气动力和力矩以及由发动机螺旋桨产生的空气动力和力矩。假设飞行沿飞行任务准备期间获得的航线以恒定高度进行。路线是使用航点设置的。路线规划是在使用“数字安全地图”的直角坐标系中执行的，这是该坐标系中沿两个轴具有相同离散性的网格。在这个地图的每个节点，计算到最近障碍物的最小距离，