Models of Conflicts in Motion Control Small UAV

The paper deals with the formalization of conflict patterns that arise in the management of the movement of small UAVs. The stages describe the conflicts, their classification. Model description of the conflict involves two tasks: the formation of the desired type of UAV flight path and forming the vector control or self-propelling UAVs along such a trajectory. The proposed models of conflicts include the impact of the flight environment, the presence of the path of the UAV prohibited areas that arise when flying at low altitudes static, but on the entire range of performance of the flight task dynamic objects. These conflicts system models can be used to find estimates of permissible boundaries of the vector values of UAV motion parameters in order to predict the probability of performing the flight task, allowing to make the appropriate adjustments in the theory of intelligent control of the UAV and a part used for its implementation of the airborne and ground systems.