Methods and Algorithms of Obstacle Flying for a Quadrocopter

Overcoming obstacles is a fundamental task in aircraft such as quadrocopters and drones. Quadrocopters are popular in a variety of fields, including photography, monitoring, delivery, and research. Unlike traditional aircraft, quadrocopters have limited visibility and can collide with obstacles such as walls, pillars, people, etc. There are several types of quadcopter control – remote and automated. Remote control requires an operator, which means that a range of actions is created in which control is available. In addition, various interference or obstacles reduce or completely block the control of the quadcopter. Automated flight allows you to overcome difficulties such as flight range and operator control, performing assigned tasks without harming the operator. In automated flight, overcoming obstacles for a quadcopter is a difficult task that requires the development of effective methods and algorithms for safe and stable flight. In recent years, researchers have developed various methods and algorithms to bypass obstacles, including the use of sensors, computer vision, radars and laser systems. The purpose of this thesis is to study and compare various methods and algorithms for flying over obstacles with a quadcopter, as well as to develop and test a new algorithm that can ensure safe and stable flight of a quadcopter in various scenarios. In the course of the work, various methods and algorithms will be compared, as well as an assessment of the effectiveness and reliability of new methods. In the course of the work, theoretical justification and analysis of literary sources, as well as practical research and testing on models were used. The results of the study are applicable in the development of new aerobatic systems and to improve the flight safety of quadrocopters.