title: ÐÐ¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ Ð¿Ð¾Ð»ÐµÑÐ° ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°
title: Ð¼Ð°Ð³Ð¸ÑÑÐµÑÑÐºÐ°Ñ Ð´Ð¸ÑÑÐµÑÑÐ°ÑÐ¸Ñ
titleType: Subtitle
Creators: name: Ð Ð¾Ð¼Ð°Ð½Ð¾Ð², Ð¤ÐµÐ´Ð¾Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2016
Subjects: ÐÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÑ
ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÐÐµÑÐ°ÑÐµÐ»ÑÐ½ÑÐµ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÑ
Ð­Ð»ÐµÐºÑÑÐ¾Ð¼ÐµÑ Ð°Ð½Ð¸ÐºÐ°

description: ÐÐ°ÑÑÐ¾ÑÑÐ°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð°Ð½Ð°Ð»Ð¸Ð·Ñ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ° Ð½Ð° Ð¿ÑÐ¸Ð¼ÐµÑÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ AR.DRONE 2.0, ÐºÐ¾ÑÐ¾ÑÑÐ¹ ÑÐ²Ð¾Ð±Ð¾Ð´Ð½Ð¾ Ð¿ÑÐ¾Ð´Ð°ÐµÑÑÑ Ð½Ð° ÑÐ¾ÑÑÐ¸Ð¹ÑÐºÐ¾Ð¼ ÑÑÐ½ÐºÐµ. ÐÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ²Ð»ÑÐµÑÑÑ Ð¾ÑÐºÑÑÑÐ°Ñ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°, ÑÑÐ¾ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÐµÑ Ð²Ð½ÐµÐ´ÑÑÑÑ ÑÐ²Ð¾Ð¸ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð² Ð³Ð¾ÑÐ¾Ð²ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¸Ð· ÐºÐ¾ÑÐ¾Ð±ÐºÐ¸. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°. ÐÐ¾Ð´ÑÐ¾Ð±Ð½Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ° Ð±ÐµÑÐºÐ¾Ð»Ð»ÐµÐºÑÐ¾ÑÐ½ÑÑ ÑÐ»ÐµÐºÑÑÐ¾Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¹, Ð²Ð¸Ð½ÑÐ¾Ð² Ð¸ ÑÐ²ÐµÑÐ´Ð¾Ð³Ð¾ ÑÐµÐ»Ð°, ÐºÐ¾ÑÐ¾ÑÑÐ¼ ÑÐ²Ð»ÑÐµÑÑÑ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ. ÐÐ¾ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð±ÑÐ»Ð¾ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð¾ Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ, Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐµÐµ ÑÐ¼ÐµÐ½ÑÑÐ¸ÑÑ Ð²ÑÐµÐ¼Ñ Ð²ÑÑÐ¾Ð´Ð° Ð½Ð° Ð¶ÐµÐ»Ð°ÐµÐ¼ÑÑ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ñ Ð¸ ÑÐ²ÐµÐ»Ð¸ÑÐ¸ÑÑ ÑÐ¾ÑÐ½Ð¾ÑÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ. Ð¡Ð¾Ð·Ð´Ð°Ð½Ð° ÑÑÐµÑÐ¼ÐµÑÐ½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°, ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð¾ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ðµ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿Ð¾ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐ¼ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸ÑÐ¼, ÐºÐ°Ðº Ð¸ Ð¿Ð»Ð¾ÑÐºÐ¸Ð¼, ÑÐ°Ðº Ð¸ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²ÐµÐ½Ð½ÑÐ¼. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¾ÑÐµÐ½ÐºÐ° ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÐ¾ÑÑÑÐ¾ÐµÐ½Ð° ÑÐ¿ÑÐ¾ÑÐµÐ½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° Ð¾Ð±Ð»ÐµÑÐ° Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹ Ð² Ð³Ð¾ÑÐ¸Ð·Ð¾Ð½ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¿Ð»Ð¾ÑÐºÐ¾ÑÑÐ¸. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð² ÑÑÐµÐ´Ðµ Matlab Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑ ÑÑÐ¾Ð²ÐµÑÑÐµÐ½ÑÑÐ²Ð¾Ð²Ð°ÑÑ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÐ¼Ð¾Ðµ Ð² AR.DRONE 2.0, Ð·Ð° ÑÑÐµÑ ÑÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸ ÑÐ²Ð¾ÐµÐ³Ð¾ ÐºÐ¾Ð½ÑÑÑÐ° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð² ÐÐ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ.
description: This paper is devoted to analysis, development and research of quadrocopter control algorithms for the model AR.DRONE 2.0, which is available on the Russian market. The signularity of this model represent with an open source operating system that allows to apply user developed control system into the quadrocopter. The paper describes mathematical model of quadrocopter. Dynamics of brushless electrical models, screws and a rigid body dynamic (quadrocopter is considered to be such in the paper) is studied in details. Nonlinear control system was built based on the developed dynamic model, which allowed to decrease the time quadrocopter consumes to get to the desired position and increase the accuracy of movement. 3-Dimensional model was built, as well as a visual description of movement; different movement trajectories were tested, including spat and spatial trajectories; movement accuracy ranking was measured. A simplified system for around obstacles flights was built. Algorithms allow for better movement control system to be used in AR.DRONE 2.0 because of the modified control loop in the operating system software. Algorithms were developed in Matlab.