Aerospace Instrument-Making Annotation << Back PLANNING OF THE EFFECTIVE MULTIPOINT FLIGHT ROUTES FOR AN AUTONOMOUS UNMANNED AERIAL VEHICLE V.B. Melekhin, M.V. Khachumov Heuristic decision-making rules are proposed that provide the opportunity to synthesize a method for searching effective multipoint flight routes using a formal description of a map for a given area, taking into account the disturbing factors of an unstable environment. Wealso formulate the rules that allow to optimize the initial full graph defining a map of the goals ground location and to reduce the number of alternative flight routes that are considered in the process of choosing the most effective ones given time limits for solving the problem. The choice of the flight path in this case is made using the reference search tree of the effective route for flying around the targets, based on the optimal graph – the model of the terrain map. A heuristic search method has been developed taking into account time constraints imposed on the effective flight routes, which has polynomial complexity allowing its implementation on the on-board computer system of an autonomous unmanned aerial vehicle. The proposed method allows one to substantially reduce the number of alternatives in the process of searching for effective routes for flying around targets arbitrary located on the ground. Keywords: unmanned aerial vehicle, unstable air environment, flying around targets, effective route for flying around targets. DOI: 10.25791/aviakosmos.04.2020.1150 Pp. 03-14.