Modeling and Control Architecture of an Autonomous Mobile Aerial Platform for Environmental Monitoring

Abstract

This paper focuses on environmental preventive measures aimed at protecting the health of city residents. To achieve this goal it is necessary to improve the efficiency of remote contact monitoring. The paper offers the use of smallsized unmanned aerial vehicles (UAVs) equipped with environmental hazard sensors to improve the efficiency and accuracy of detecting pollution sources of a target zone in real time. A method of high-precision determination of coordinates of the pollution sources has been developed with the use of a combined method of measuring the CO concentration by a mobile gas analyzer and an algorithm for finding the sources of pollution. A model of the flying mobile platform has been simulated taking into account a combined control strategy that includes the use of PID and Fuzzy logic controllers.