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Proceedings Paper

Fast 3D route-planning approach for air vehicle
Author(s): Jilin Tu; Mingyue Ding; Chengping Zhou; Haojun Ai
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Paper Abstract

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.

Paper Details

Date Published: 26 June 1997
PDF: 10 pages
Proc. SPIE 3087, Navigation and Control Technologies for Unmanned Systems II, (26 June 1997); doi: 10.1117/12.277211
Show Author Affiliations
Jilin Tu, Huazhong Univ. of Science and Technology (China)
Mingyue Ding, Huazhong Univ. of Science and Technology (China)
Chengping Zhou, Huazhong Univ. of Science and Technology (China)
Haojun Ai, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 3087:
Navigation and Control Technologies for Unmanned Systems II
Scott A. Speigle, Editor(s)

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