Title :
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
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;
Conference_Titel :
Computing and Information, 1993. Proceedings ICCI '93., Fifth International Conference on
Conference_Location :
Sudbury, Ont.
Print_ISBN :
0-8186-4212-2
DOI :
10.1109/ICCI.1993.315402
