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

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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.

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E. Kan, M. Lim, S. Yeo, J. Ho and Z. Shao, "Contour Based Path Planning with B-Spline Trajectory Generation for Unmanned Aerial Vehicles (UAVs) over Hostile Terrain,"

*Journal of Intelligent Learning Systems and Applications*, Vol. 3 No. 3, 2011, pp. 122-130. doi: 10.4236/jilsa.2011.33014.

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