Contour Based Path Planning with B-Spline Trajectory Generation for Unmanned Aerial Vehicles (UAVs) over Hostile Terrain

• 作者: Ee-May Kan Jiun-Sien Ho Meng-Hiot Lim Swee-Ping Yeo Zhenhai Shao
• 来源期刊: 智能学习系统与应用(英文)
• 学科: 数学
• 关键词: Unmanned Aerial Vehicles (UAVs) Radar Path Planning B-SPLINES
• 年，卷（期）: 2011,（3）
• 页码范围: 122-130
• 页数: 9页
• 分类号: O1

摘要

This research focuses on trajectory generation algorithms that take into account the stealthiness of autonomous UAVs;generating stealthy paths through a region laden with enemy radars. The algorithm is employed to estimate the risk cost of the navigational space and generate an optimized path based on the user-specified threshold altitude value. Thus the generated path is represented with a set of low-radar risk waypoints being the coordinates of its control points. The radar-aware path planner is then approximated using cubic B-splines by considering the least radar risk to the destination. Simulated results are presented, illustrating the potential benefits of such algorithms.