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Aerospace Instrument-Making

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Air route simulation of unmanned aerial vehicles as the pursuit-evasion problem
Abramov N.S. Khachumov V.M.

The intelligent control problems of unmanned aerial vehicle (UAV) are considered. The mathematical description of the aircraft is given in the form of the transfer functions of two-loop control system with autopilot with settings that provide the necessary stability of the flight. The desired solution of the problem corresponds to the ideal movement along the route of a point target. The problem is reduced to the pursuit of this ideal target in the presence of noise – wind load. In accordance with the principle of separation of motion is considered flat case the solution of the reference target of persecution control and stabilization of the pitch angle in the established model range and two-speed control of the aircraft. The general scheme of intelligent control, which implements a set of policies and rules of the angle of the pitch and speed of flight, is considered. In the experimental part of work UAV’s flight is modeled in terms of restrictions on management and wind loads. The main criterion of quality are integral estimate deviations from the route of the object (of set purpose) during the wiring and visual assessment of the actual flight path compared to the ideal. It is assumed that the camera mounted on the aircraft that performs tracking of the potential target. The relation between the parameters of video camera (angular velocity, the angle of rotation) and the parameters of target motion, which may make anticipatory pursuit, is considered.
Key words: UAV, simulation, pursuit, computer vision, navigation, intelligent control.


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