contour based path planning with b-spline trajectory generation for unmanned aerial vehicles (uavs) over hostile terrain基于轮廓路径规划与b样条轨迹生成无人机(uav)在敌对的地形.pdfVIP

Journal of Intelligent Learning Systems and Applications, 2011, 3, 122-130 doi:10.4236/jilsa.2011.33014 Published Online August 2011 (/journal/jilsa) Contour Based Path Planning with B-Spline Trajectory Generation for Unmanned Aerial Vehicles (UAVs) over Hostile Terrain 1 1 2 3 4 Ee-May Kan , Meng-Hiot Lim , Swee-Ping Yeo , Jiun-Sien Ho , Zhenhai Shao 1 2 Nanyang Technological University, Singapore City, Singapore; National University of Singapore, Singapore City, Singapore; 3Temasek Polytechnic, Singapore City, Singapore; 4University of Electronic Science Technology of China, Chengdu, China. Email: ka0001ay@.sg, emhlim@.sg, eleyeosp@.sg, jiunsien@.sg th st th Received May 20 , 2011; revised July 1 , 2011; accepted July 8 , 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 destina- tion. Simulated results are presented, illustrating the potential benefits of such algorithms. Keywords : Unmanned Aerial Vehicles (UAVs), Radar, Path Planning, B-Splines 1. Introduction such as threats, evolving mission elements, tight timing and