Instruments and Systems: Monitoring, Control, and Diagnostics Annotation << Back Mathematical Modeling of the of the Quadcopter Obstacle Avoidance System A.P. ELTYSHEV, A.L. MASLENNIKOV, N.B. FILIMONOV With the development of unmanned aerial vehicles (UAVs), in particular, quadcopters, the higher requirements are imposed on its control systems, including to the solution of the flight safety in an urban environment problem. To solve this problem, various algorithmic solutions are used, for the development and verification of which mathematical and simulation modeling approaches are applied. To verify trajectory safety algorithms, it is necessary to model both the dynamics of the aircraft and the obstacle avoidance system, which, as a rule, are based on various types of range finders. This paper presents the architecture, the way of functioning and the mathematical model of such system for UAVs on the example of a quadrocopter. The adequacy and functionality of the model is confirmed by the simulation results, for which an algorithm of randomized urban environment formation is additionally formed. Keywords: UAV, quadcopter, laser range finders, trajectory safety, urban environment, obstacle avoidance. DOI: 10.25791/pribor.11.2021.1305 Pp. 43-49.