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Aerospace Instrument-Making Annotation << Back
AUTOMATIC CONSTRUCTION OF A TARGET SEARCH ROUTE BY AN AUTONOMOUS UNMANNED AIRCRAFT UNDER UNCERTAINTY |
V.B. Melekhin, M.V. Khachumov
The main problems and features associated with the automatic construction of an autonomous unmanned aerial vehicle with technical vision, target search routes in the territory of an a priori undescribed ground problematic environment in conditions with non-stochastic uncertainty are considered. A formal model of a terrain map is proposed, which is automatically generated in the form of a labeled graph, the vertices of which are determined by the coordinates of the location of the targets, and the arcs are determined by the distances between them. The formation of the target search route is carried out on the basis of dividing the terrestrial environment into zones using a special model called the target of fl ying around the investigated territory. Each such sector is limited by circles relative to the current location of the aircraft, the radius of which is determined based on the resolution of its technical vision. This makes it possible to automatically generate effective search routes for the location of specifi ed targets in a priori undescribed operating conditions. A heuristic search algorithm has been developed that allows you to build locally optimal routes for flying around the investigated area of the terrain, taking into account the targets located on it. Boundary estimates of the complexity of the target search algorithm are found, showing that it has a polynomial complexity depending on the number of targets in the studied ground environment.
Keywords: autonomous unmanned aerial vehicle, automatic planning, target search route, uncertainty conditions.
DOI: 10.25791/aviakosmos.7.2021.1228
Pp. 03-15. |
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