ROUTING MODEL OF FLIGHT OF MOBILE OBJECTS BY UNMANNED AIRCRAFT

Abstract

An analysis of the experience of using unmanned aerial vehicles proves that the efficiency of performing tasks is directly related to the quality of route planning. Most route planning methods are focused on finding and monitoring stationary objects. However, at present, the solution of the problem of monitoring mobile, moving objects is of much greater importance. The paper solves the problem of planning a route for flying around mobile objects that maintain their direction of motion for a long period of time using the method of mathematical optimization - dynamic programming. When solving the problem of constructing an optimal route, the dynamics of the flight of an unmanned aerial vehicle was taken into account, which makes it possible to sequentially add objects to the route. When the ordinates of risk are equated to each other, there is an excessive number of variants of compound equations. The work uses a simplified approach, for which the "average" values of the risk ordinate are additionally determined. When building a route, at each step of selecting the next ground object, those with the minimum penalty value are added to the route.