ISSN 2071-8594

Russian academy of sciences


Gennady Osipov

M.V. Khachumov Planning the route and modeling flight vehicle motion in an uncertain environment


The problem of planning the route is considered on the example of visiting reference points by an aerial vehicle in a perturbed environment. As the main tool for laying the route, a procedure is proposed that uses the Hungarian method of solving the assignment problem. It is assumed that the initial matrix of distances takes into account impassable obstacles between points that are modeled by the value of the distance equal to infinity. Planning is complicated by the presence of wind flows that affect the speed of an aircraft (and, in general, affect the trajectory of motion). As a generalized criterion, it is proposed to use time costs that are required for transition between points. In addition, the approach to solving the simplified problem of laying a route in the absence of obstacles and wind loads is considered. This approach is based on the solution of the traveling salesman problem. Simulating aircraft motion along a given route in an uncertain environment is performed with allowance for the constant and dynamic (random) components of wind flows. Simulation system is implemented in MATLAB Simulink program and contains mathematical models of a flight vehicle and wind loads, as well as a special intelligent control module for rapid response to changes in the external environment.


autonomous aerial vehicles, route planning, assignment problem, Hungarian method, traveling salesman problem, Kohonen neural network, trajectory motion, control system, wind disturbances, simulation.

PP. 3-11.


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