UAV movement planning in mountainous terrain

The principles of planning of unmanned aerial vehicle movement in mountainous terrain are described in this paper. It is emphasized that the movement of the aerial vehicle takes place along the trajectory on a certain trajectory movement model, where unmanned aerial vehicle is represented as material point, the mass of which is concentrated in the center of mass. A discrete model in the linear state space that approximates the dynamics of an unmanned aerial vehicle is proposed. The general spatial movement of unmanned aerial vehicle is divided into longitudinal and lateral movement, and the longitudinal movement is considered independently of the lateral movement, taking into account the characteristics of the flight of unmanned aerial vehicle in mountainous terrain. The selection of the polygon from a certain set of irregularities in relation to the speed limit, acceleration limit and change in acceleration of unmanned aerial vehicle in the conditions of movement in mountainous terrain is graphically presented. It is emphasized that since the corresponding heights for any point on the curved surface of the relief are unknown, in order to obtain them, it is necessary to use the interpolation of the vertices of the corresponding triangle. It is noted that while choosing certain values of the coefficients, it is possible to describe the surface of the terrain using triangles, taking into account the combinations of coordinates of each known peak, and using the combinations of undefined coefficients as variable solutions, it is possible to describe the restrictions on the bending of the mountainous terrain. It is emphasized that during trajectory movement, the unmanned aerial vehicle is presented as material point, and in a real flight over mountainous terrain, its characteristic dimensions must be taken into account in order to avoid the obstacle successfully. It is proposed to increase the dimensions by a certain amount in each direction for effective obstacle avoidance of the unmanned aerial vehicle in mountainous terrain.