Title :
3D path planning in a threat environment
Author :
Miller, Boris ; Stepanyan, Karen ; Miller, Alexander ; Andreev, Michael
Author_Institution :
Sch. of Math. Sci., Monash Univ., Clayton, VIC, Australia
Abstract :
We address optimal path planning in three dimensional space for an unmanned aerial vehicle (UAV) in the stationary risk environment. We separate the task into two stage, in the first one we determine the risk optimal 2D path for fixed time problem. Then we solve the series of BVPs (Boundary Value Problems) with different UAV speeds and determine the admissible 2D path, which satisfies the time and risk constraints. In the last step one takes into account the relief along the chosen path and determine the approximated 3D path, which minimizes 2D threat along the path and satisfies other constraints.
Keywords :
autonomous aerial vehicles; boundary-value problems; mobile robots; path planning; risk management; 3D optimal path planning; boundary value problems; fixed time problem; risk constraints; risk optimal 2D path; stationary risk environment; threat environment; three dimensional space; time constraints; unmanned aerial vehicle; Approximation methods; Boundary value problems; Educational institutions; Hazards; Optimal control; Three dimensional displays; Trajectory;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160385