Aerospace Instrument-Making Annotation << Back ALGORITHM FOR NAVIGATION OF UNMANNED AERIAL VEHICLES FOR MONITORING OF FOREST ECOSYSTEMS V.V. Neretina, V.N. Efanov, V.S. Fetisov The problem of navigation of unmanned aerial vehicles in the monitoring of forest ecosystems is considered. The purpose of this study is to develop algorithms for navigation and formation of safe trajectories of Autonomous flight of UAV in conditions of numerous interference and obstacles. The analysis of modern means of monitoring of forest ecosystems is carried out. To solve the problem of navigation it is proposed to use the technology of «machine vision». These technologies allow us to fi nd and localize dangerous objects of the scene on the current image to generate control signals of the UAV movement along safe trajectories. The algorithm of segmentation of the image of the environment on the basis of statistical analysis of histograms of brightness of areas of the image is developed. This algorithm makes it possible to carry out zoning of the air space according to the level of danger using the introduced set of texture features. The estimation of effi ciency of the algorithm of segmentation of the image of forest on the basis of calculation of statistical textural characteristics is given. The algorithm of formation of the trajectory of lowflying UAV to avoid danger is presented. Key words: fl ight control, trajectory, safety, segmentation, image, texture characteristics. DOI: 10.25791/aviakosmos.07.2018.073 Contacts: E-mail: neretina@bk.ru, E-mail: efanov@mail.ru, E-mail: photonltd@mail.ru Pp. 11-24.