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• ## Hexacopter movement control method based on dynamic repellent forces in the three-dimensional environment with obstacles

In the article the method of dynamic repeller formation in case of drone movement control is offered for use in the three-dimensional environments with obstacles. Erle-HexaCopter is considered as drone in this article. Article contains the short description of a hexacopter mathematical model and positional-trajectory control movement algorithms. The method is based on representation obtacles as dynamic repeller is offered. Dynamic repellers are formed depending on the distance from the drone to the obstacle in the movement process. This method is analyzed and simulated in Matlab. Cases with one or several stationar obtacles are considered in simulation. In conclusion, we formulated the revealed features of this method

Keywords: Hexacopter, unformalized environment, 3D, round of obstacles, movement control, repeller, drone

• ## Use virtual point for path-planning of vehicle in 3D

This paper represent a method of unstable modes and concept of virtual point applying to unmanned aerial vehicles in 3D. It describes details of unstable modes for vehicle control, as well as virtual point method in 3D and its procedure. As an example of vehicle, we use hexacopters. Paper shows simulation results for a number of cases: a flight from point to point in undetermined environment with obstacles and path-following in undetermined environment with obstacles. The efficiency of the method with various coefficients is analyzed. In conclusions we discuss about limits of the method and the recommendations of its use.

Keywords: unstable mode, hexacopter, vehicle, virtual point, UAV, obstacle, simulation, flight, position-trajectory control

• ## Hydrodynamics calculations of AUUV

The paper substantiates the necessity of the CFD analysis of AUUV. It presents an algorithm of hydrodynamic coefficients computation. The initial conditions and environment model for computation are defined. We present the CFD results and the approach of hydrodynamic coefficients analysis.

Keywords: AUUV hydrodynamics mathematical model polynom approximation software complex

• ## A simulation of small scale helicopter using position-trajectory regulator

In this paper, the synthesis of a trajectory regulator for a mini-helicopter are described. We propose a method to hardware-in-the-loop simulation using simulator AerosimRC. The simulation results are showed. The tasks for the application of the method are pointed.

Keywords: position-trajectory regulator, helicopter, mathematical modeling, simulation, algorithms.