Algorithm for Controlling the Trajectory of an Unmanned Aerial Vehicle with the Possibility of Flying Around Obstacles

This article solves the problem of developing an autonomous flight control system that allows unmanned copter type aerial vehicle to fly along a given route with the possibility of avoiding obstacles. The mathematical model of a quadcopter with four propellers, considering wind disturbances and the algorithm for trajectory control of an unmanned aerial vehicle are studied in detail. The mathematical model is based on the basic equations of dynamics for translational and rotational motion. The trajectory control algorithm, which should control the required linear coordinates of quadcopters throughout the route, is developed using the proportional-integral-differentiating (PID) controller. PID controller is also used for managing angular coordinates. The PID-controller coefficients can be calculated by using the tangential method or the Ziegler-Nichols method. The trajectory control algorithm is implemented in an object-oriented programming environment.