The movement of robotic systems can occur in conditions of interference disturbances, different in quality and power. In this case, the actual task is to correct the initial planned trajectory of the robot's movement in order to evade the latter from the action of these sources in order to maximize some quality functionality. It is advisable to associate the latter with the probability of successful passage of the target trajectory in the field of interference effects. The peculiarity of such an adjustment is the complexity of optimizing the corresponding probability functionals, which leads to the need to develop approximate optimization methods based, however, on a fairly accurate calculation of the probabilities of successful passage for each specific trajectory. In this article, we propose such an approximate correction technique that allows us to effectively bypass interference sources defined by their known areas of action and characteristic probabilistic functions. This technique is based on an iterative procedure of successive approximations to such a trajectory, which has a given probability of successful passage. The developed technique can be effectively integrated into the movement planner of robotic objects moving in conditions of obstacles with fixed boundaries, as well as corresponding repeller sources, information about which allows us to estimate with sufficient accuracy the probability of successful passage of any trajectories in their vicinity at a given speed mode of movement.

Keywords: robotics complex, repeller sources, motion planning, probability of successful completion, iterative procedure, target functionality

This article proposes a method for correcting the intermediate trajectory obtained by one of the planning methods, taking into account the limitations on the linear velocity and acceleration of the apparatus, as well as on the angle of its pitch. This technique is combined with the smoothing procedure, which includes the stage of minimizing the length of a piecewise polyline trajectory and rounding the corners at the vertices with the construction of a smooth time parametric representation of it using the modified Dubins method.

Keywords: robotics complex, unmanned aerial vehicle, stability and controllability of the vehicle, motion planning, local adjustment of the planned trajectory, reduction of energy costs

This article discusses a new method for adjusting the ground speed of a multicopter-type unmanned aerial vehicle and the initial, previously planned trajectory of its movement, taking into account horizontal stationary wind flows. The use of this technique for local rescheduling of the trajectories being worked out makes it possible to reduce the probability of loss of stability and controllability of such a device, as well as to reduce energy costs when driving in conditions of significant winds with an acceptable deviation from the initial trajectory. The developed algorithm is the basis for the synthesis of more accurate algorithms for local correction of the initial trajectory of motion in a complex field of wind speeds. The efficiency of the algorithm is confirmed by the physical correctness of the simulation results.

Keywords: unmanned aerial vehicle, wind load, stability and controllability of the vehicle, local adjustment of the planned trajectory, reduction of energy costs

This article discusses a hardware and software complex for the study of aerodynamics and electromechanical characteristics of wind turbines (WPP) with a vertical axis of rotation. The created laboratory stand makes it possible to carry out experimental studies of the developed wind power plants, to obtain the dependences of the angular speed of rotation of the rotor and the consumed electric power on the wind speed. To demonstrate the efficiency of the considered vortex-type wind turbine, the corresponding prototypes of wind turbines with a power of 0.2 kW and 1.2 kW were designed and assembled, and their full-scale tests were carried out. The developed software makes it possible to carry out numerical simulation of the motion of a wind turbine with an unsteady undisturbed wind flow, taking into account the mass-inertial characteristics of the installation and the nature of the moment of resistance to the rotation of its rotor. Experimental and numerical results obtained using the developed hardware-software complex are presented and compared. These results indicate the possibility of using such a complex as an effective tool for the development of wind turbines with a vertical axis of rotation.

Keywords: wind power plant, experimental research, software and hardware complex, numerical modeling, numerical methods of dynamics of continuous media

A method for remote determination of the angular velocity of rotation of the blades of a wind generator based on digital processing of the video stream of this wind generator is considered. The main problems that are encountered with this method of measuring angular velocity are analyzed. The considered method for determining the rotation speed of the blades of a wind generator is possible provided that the frame rate is several times greater than the determined rotation frequency. The minimum possible error of this measurement method was found; the real error of measuring the angular velocity was calculated on a specific example.

Keywords: digital processing of the video stream, image stabilization of the wind generator, finding the contours of the rotor blades, estimation of the angular speed of rotation of the rotor

An idea is introduced of the directing structures of the director and reflex types that contribute to the formation of air flows, which in a given way contribute to an increase in mechanical power on the shaft of its rotor. These structures can be used to amplify the moment on the rotor shaft by increasing its useful interference with the stator. Qualitative considerations about the influence of the introduced guide structures are confirmed by the introduction and numerical aerodynamic calculations of two modernized designs of a promising vortex wind power installation, considered in the previous works of the authors. The most optimal variant of rotor modernization was selected, which made it possible to increase the power on its shaft by an average of 45% relative to the corresponding power for the design of a wind turbine with an initial rotor shape in the operating range of wind speeds from 1 to 12 m / s. The materials of this article can be used to design the optimum aerodynamic power criterion for the rotor of wind power plants, their stations, as well as integrated power power plants, including a wind power plant as one of the renewable sources of energy.

Keywords: wind power installation, airflow structuring, director-type guide structure, reflex-type guide structure, vortex structure, rotor aerodynamic torque, aerodynamic optimization by the criterion of maximum power, numerical aerodynamic calculation, sliding gr