Far field path planning for rotorcraft NOE missions in a mountainous region

Author

Li, Huade ; Suraweera, Francis

Author_Institution

Sch. of Comput. & Inf., Griffith Univ., Nathan, Qld., Australia

fYear

1993

fDate

27-29 May 1993

Firstpage

65

Lastpage

70

Abstract

Investigates the problem of finding a path from a designated starting point to a designated goal in three-dimensional space for a rotorcraft using the nap-of-the-Earth (NOE) flight tactic. The terrain considered is a mountainous region. The paper examines the characteristics of NOE path and also explains the difficulties in getting an exact cost function for NOE path planning. Based on the characteristics of NOE flight, we then present an efficient algorithm for the solution of this problem. The worst-case complexity of the proposed algorithm is O(n² log n) where n is the number of vertices of a certain (grid) graph

Keywords

aerospace computing; computational complexity; computerised navigation; graph theory; helicopters; path planning; sorting; 3D space; cost function; divide and conquer method; far field path planning; graph vertices; grid; low altitude flight; mountainous region; nap-of-the-Earth flight tactic; polynomial algorithms; rotorcraft NOE missions; sorting; terrain; worst-case complexity; Buildings; Cost function; Defense industry; Dynamic programming; Earth; Heuristic algorithms; Informatics; Path planning; Polynomials; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing and Information, 1993. Proceedings ICCI '93., Fifth International Conference on

Conference_Location

Sudbury, Ont.

Print_ISBN

0-8186-4212-2

Type

conf

DOI

10.1109/ICCI.1993.315402

Filename

315402