Formulation of a Navigation Path for an Unmanned Aerial Vehicle in a Dynamic Environment

Abstract

This paper considers the formation of a navigation path for an unmanned aerial vehicle operating in a dynamic environment. The relevance of the study is determined by the need to ensure stable autonomous flight under external disturbances, navigation measurement uncertainty, and temporal delays in control processes. The aim of the work is to develop a mathematical framework for a navigation control loop that maintains the predefined flight path and compensates for dynamic deviations. A navigation control loop architecture combining spatial state estimation, trajectory tracking, motion stabilisation, and corrective control synthesis is proposed. The developed mathematical framework formalises trajectory deviation estimation, control generation, disturbance compensation, and stability assessment. Simulation modelling in Mission Planner demonstrated that the proposed approach reduces spatial trajectory deviations and improves route tracking stability under dynamic disturbances. The developed approach can be applied in autonomous flight, navigation, and trajectory stabilisation systems of unmanned aerial vehicles.