Aerodynamic model of a group of uavs in aircraft space.
Abstract
The article examines the aerodynamic model of a group of unmanned aerial vehicles in a space with obstacles, the model is built on the basis of the methods for forming the Dubins trajectory and the Pythagorean spatial theorem, according to the hodograph. The article determines that one of the classical trajectories that is used to maneuver an unmanned aerial vehicle from one height to another is the intersection of a circular spiral, which is projected onto the X-Y plane in the form of a circle. Compared with the Pythagorean theorem, according to the hodograph, the length of the spiral path will be longer than any other and more accurate in the shape of the path. The problem of avoiding obstacles is identified and the Dubins diagram of the paths of two unmanned aerial vehicles in an environment with obstacles is given. Based on this scheme, an algorithm for redevelopment of the UAV2 path with curvature adjustment using an intermediate point is described in the second scheme. It is noted that for the use of UAVs, it is important that the continuity of curvature is proportional to the lateral acceleration of the UAV, as a result, it is necessary to have controlled curvature at the boundaries of the interpolation curves, as well as impose restrictions on the maximum curvature.
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