3D path planning in a threat environment

Boris Miller, K Stepanyan, Alexander Miller, Michael Andreev

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

25 Citations (Scopus)

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.
Original languageEnglish
Title of host publicationProceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
EditorsMarios Polycarpou
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages6864 - 6868
Number of pages5
DOIs
Publication statusPublished - 2011
EventIEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011 - Hilton Orlando Bonnet Creek, Orlando, United States of America
Duration: 12 Dec 201115 Dec 2011
Conference number: 50th
http://www.ieeecss.org/CAB/conferences/cdcecc2011/cfp.php
https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=15803

Conference

ConferenceIEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011
Abbreviated titleCDC-ECC 2011
CountryUnited States of America
CityOrlando
Period12/12/1115/12/11
Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Internet address

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