Aнaліз впливу вітру нa ефективність aлгоритмів побудови трaєкторій безпілотниx літaльниx aпaрaтів тa розробкa методів компенсaції зовнішніx фaкторів

Abstract

Abstract. This paper studies the effect of wind on the success rate of path planning algorithms for a fixed-wing Unmanned Aerial Vehicle (UAV). We thoroughly review the literature on state-of-the-art wind compensation approaches, including adaptive schemes as well as optimization techniques, with a particular emphasis on fixed-wing UAVs. Wind effects on the flight dynamics and power consumption are modeled. Here we show how to compensate for such external perturbations as wind via PID controllers, Kalman filters and machine learning prediction models in details. The simulation setup, the input parameters (mass, wing span, cruise speed, wind parameters), and the scenarios (steady wind, wind gusts, no wind) are introduced in the experimental section. In the calculations are provided the trajectory distortion, both energy consumption and flying time. Schematic illustrations of the UAV trajectory in wind fields as well as the efficiency of compensation methods.

The results illustrate that adaptive compensation can reduce the trajectory errors and the energy consumption of up to 70% and 20%, respectively, when compared to the baseline algorithms. The paper ends with practical guidelines for the implementation of wind compensation in actual UAV control systems and by listing opportunities for future research, including extensions of hybrid compensation methods and their incorporation into onboard flight controllers.