Algorithm for reconstructing obstacle planes based on information from an array of rangefinders

An algorithm for reconstructing obstacle planes — elements of urban development — based on information received from an obstacle detection system, based on an array of rangefinders installed on a quadcopter is considered. Algorithms for modeling the operation of the obstacle detection system and determining the coordinates of obstacle planes, as well as criteria for combining planes related to one obstacle, are described. To illustrate the operation of the proposed algorithm, a computational experiment is conducted, within the framework of which the problem of reconstructing obstacle planes is solved at each step of dynamics modeling for a quadcopter moving in a simulated environment with obstacles. Keywords multi-rotor UAVs, quadcopter, urban development elements, detection and flight around obstacles, obstacle detection system, rangefinder