SIMULATION OF THE AUTOMATIC FLIGHT OF A SMALL UNMANNED AERIAL VEHICLE OVER A MARKER LINE

Abstract

The subject of study is the process of automating the behavior of an unmanned aerial vehicle during a flight following a given marker inside a room. The goal is to reduce the distance of deviation from the course and reduce the time to complete the flight along the trajectory set by the contrasting marker on the ground. The task: to conduct an analysis of existing libraries capable of performing automatic flight simulation and adaptation of the received code to the hardware platform of modern unmanned aerial vehicles; review the structure of the selected library, and modify the components of the library, which are necessary for the formation of automatic flight; create a model of the video processing and control system, check its operational parameters in a simulation environment. The methods used are: system analysis used to compare existing libraries of UAV flight simulation information systems within the framework of the assigned tasks, artificial intelligence methods for the development of a video stream data analysis subsystem and recognition of the provided marker during UAV flight simulation, system programming methods for automatic control of UAV flight based on the data obtained from the visual information analysis system, a method of simulation modeling to check the correctness of the developed algorithms in collaborative work. The following results were obtained. The choice of the library for the development and modeling of subsystems of automatic flight of a small unmanned aerial vehicle in a room is justified, a subsystem for processing video information obtained from the built-in camera of a UAV is created, an automatic flight control subsystem is developed taking into account the data of the video information analysis subsystem; a series of experiments was conducted on a simulation model to check the system's performance. Conclusions. In the course of the study, a model of the autonomous flight of a small unmanned aerial vehicle capable of flying over a contrasting color marker placed on the surface over which the UAV flies was improved. Unlike existing models, the system does not require the use of additional equipment, all computing operations must be performed on board the UAV, only the data of the video stream of the built-in camera and the coordinates of the UAV are transmitted to the control station, in addition, the minimum number of additional libraries necessary for creating a simulation model was used simulation modeling. This will reduce the time it takes to create a model, and, accordingly, conduct more experiments on improving parameters to achieve the goal of research.