A fast 3-D route planning method for unmanned air vehicle is proposed which can generate physically realizable 3-D route within a reasonable time. Our method includes two steps: First, 2-D route planning generates a route which satisfies turning radius constraint(abbreviated as R-constrained below); second, 3-D route planning generates 3-D route in vertical profile of the 2-D route. To make 2-D route R-constrained, a method is proposed by supposing 2-D route of air vehicle is composed of a sequence of arc route segments and tangential points between neighboring arcs are searching nodes. 3 -D route planning is considered as optimal control problem, and its route can be determined by applying motion equations of air vehicle. The experiments show that our method can produce feasible 3-D routes within a reasonable time, and ensure the planned 3-D routes satisfy aerodynamics constraints of air vehicle.


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    Title :

    Fast 3D route-planning approach for air vehicle


    Contributors:
    Tu, Jilin (author) / Ding, Mingyue (author) / Zhou, Chengping (author) / Ai, Haojun (author)

    Conference:

    Navigation and Control Technologies for Unmanned Systems II ; 1997 ; Orlando,FL,USA


    Published in:

    Publication date :

    1997-06-26





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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