Quadrocopter control with trajectory safety by using information from a measuring system based on laser range finders

Abstract

The problem of formation of a quadrocopter control, which ensures the trajectory safety of its movement within the boundaries of urban development, is considered. To test the control, a simulation model is used, which includes a mathematical model of a quadrocopter, an algorithm for forming an urban environment, an algorithm of a measuring system operation based on a complex of laser range finders. The control is formed on the basis of this system measurements, taking into account the given levels of safety, each of which corresponds to a given distance interval of the quadrocopter from an obstacle, and taking into account its angular position. The simulation results show the fundamental applicability of the considered approach to the formation of a quadrocopter control that ensures trajectory safety. Keywords unmanned aerial vehicle, quadrocopter, laser range finder, trajectory safety, urban profile, obstacle avoidance, obstacle detection