Aerospace Instrument-Making Annotation << Back ALGORITHM OF UAV TRAJECTORY FINDING FOR UNKNOWN ENVIRONMENT WITH MULTIPLE OBSTACLES I.A. Kabirov, R.A. Kilmetov, V.S. Fetisov, V.V. Neretina Authors proposed the algorithm of UAV trajectory fi nding for unknown environment with multiple obstacles. As a result of processing video frames streaming from an onboard stereo camera the algorithm creates an environment map represented as a graph. The algorithm obtains returns from possible impasses. It was proposed for the graph vertices to use the restricted set of points extracted from the depth map. Due to the use of relatively small number of points instead of the whole points cloud processing time is significantly shortened. Keywords: unmanned aerial vehicle, path fi nding, woodland, unknown environment, points cloud, depth map. DOI: 10.25791/aviakosmos.4.2021.1212 Pp. 03-13.