3D path planning in a threat environment

Boris Miller; K Stepanyan; Alexander Miller; Michael Andreev

doi:10.1109/CDC.2011.6160385

3D path planning in a threat environment

Boris Miller, K Stepanyan, Alexander Miller, Michael Andreev

School of Mathematics

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-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 language	English
Title of host publication	Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Editors	Marios Polycarpou
Place of Publication	USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	6864 - 6868
Number of pages	5
DOIs	https://doi.org/10.1109/CDC.2011.6160385
Publication status	Published - 2011
Event	IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011 - Hilton Orlando Bonnet Creek, Orlando, United States of America Duration: 12 Dec 2011 → 15 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

Conference	IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011
Abbreviated title	CDC-ECC 2011
Country	United States of America
City	Orlando
Period	12/12/11 → 15/12/11
Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Internet address	http://www.ieeecss.org/CAB/conferences/cdcecc2011/cfp.php https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=15803

Access to Document

10.1109/CDC.2011.6160385

RM sElocation

Cite this

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title = "3D path planning in a threat environment",

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.",

author = "Boris Miller and K Stepanyan and Alexander Miller and Michael Andreev",

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editor = "Marios Polycarpou",

booktitle = "Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",

url = "http://www.ieeecss.org/CAB/conferences/cdcecc2011/cfp.php, https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=15803",

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Miller, B, Stepanyan, K, Miller, A & Andreev, M 2011, 3D path planning in a threat environment. in M Polycarpou (ed.), Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC). IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 6864 - 6868, IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) 2011, Orlando, United States of America, 12/12/11. https://doi.org/10.1109/CDC.2011.6160385

3D path planning in a threat environment. / Miller, Boris; Stepanyan, K; Miller, Alexander; Andreev, Michael.

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC). ed. / Marios Polycarpou. USA : IEEE, Institute of Electrical and Electronics Engineers, 2011. p. 6864 - 6868.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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