Randomization in control loop for small UAV Fly optimization under unknown changes of wind direction
The possibilities to add randomization in control loop for optimizing the trajectory of the UAV horizontal ﬂying under unknown changes of wind direction are considered. A small UAV which is equipped only with the GPS module for navigation are suggested. Only the positions data obtained iteratively at discrete time instants can be used. The user has to be able to add test perturbations through the input channel. The assumptions about the noise are reduced to minimum. It can virtually be arbitrary but independent to test perturbations. Simulation of theoretical results are given. The operability of the new algorithm under irregular noises in observations in comparison with traditional approaches is illustrated. For practical usage a small autonomic unmanned planner with an autopilot and additional microcomputer on the board are designed. The eﬀective interoperability processes between autopilot and a microcomputer based on SIP are organized. The connection between microcomputer and the ground base station or between microcomputer and the other UAVs by Wi-Fi or Internet connection is established.