Path planning for unmanned aerial vehicle under complicated conditions and hazards

Abstract

The flight of an unmanned aerial vehicle under complicated conditions and hazards is considered. Hazards are given in terms of 2D relief. To find the optimal 2D path minimizing the risk given constraints on flight time and velocity, the problem with the non-given boundary condition is transformed to the problem with the fixed flight time and the boundary problem solved numerically. The found 2D path is used to construct the polynomial approximation of the 3D path taking into account the local relief.

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Correspondence to M. A. Andreev.

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Original Russian Text © M.A. Andreev, A.B. Miller, B.M. Miller, K.V. Stepanyan, 2012, published in Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 2012, No. 2, pp. 166–176.

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Andreev, M.A., Miller, A.B., Miller, B.M. et al. Path planning for unmanned aerial vehicle under complicated conditions and hazards. J. Comput. Syst. Sci. Int. 51, 328–338 (2012). https://doi.org/10.1134/S1064230712010030

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Keywords

  • Path Planning
  • Versus Versus Versus
  • Unmanned Aerial Vehicle
  • System Science International
  • Delaunay Triangulation