TITLE:
Contour Based Path Planning with B-Spline Trajectory Generation for Unmanned Aerial Vehicles (UAVs) over Hostile Terrain
AUTHORS:
Ee-May Kan, Meng-Hiot Lim, Swee-Ping Yeo, Jiun-Sien Ho, Zhenhai Shao
KEYWORDS:
Unmanned Aerial Vehicles (UAVs), Radar, Path Planning, B-Splines
JOURNAL NAME:
Journal of Intelligent Learning Systems and Applications,
Vol.3 No.3,
August
10,
2011
ABSTRACT: 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.