Autonomous helicopter operations in the near-earth environment will require robust and efficient obstacle field route planning. A method for obstacle field route planning is presented, which is composed of a mesh generation phase, a graph search phase, and a route refinement phase. The method mixes optimization and heuristics to obtain a satisfactory solution quickly. Simulations based on an unmanned helicopter model are presented.
A Practical Approach to Obstacle Field Route Planning for Unmanned Rotorcraft
American Helicopter Society 60th Annual Forum ; 2004 ; Baltimore, MD, United States
2004-03-01
Conference paper
No indication
English
A Practical Approach to Obstacle Field Route Planning for Unmanned Rotorcraft
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