UAV Trajectory Planning for Static and Dynamic Environments
Juan José, Orlando Arevalo, Gonzalo Pájares, Jesús Manuel de la Cruz García · InTech eBooks · 2009
We have presented the trajectory generation module of SPASAS, an integrated system for definition of flight scenarios, flight planning, simulation and graphic representation of the results developed at Complutense University of Madrid. The module uses two alternative methods, MILP and a modification of the A* algorithm, and considers static and dynamic environmental elements, particularly pop-ups. Both methods have been implemented and a Monte Carlo simulation was done to evaluate the decision making strategy proposed. The results showed the advantages of choosing the optimum decision plan that considers the known values of the probability of appearance of pop-up threats in the future. The possibility to update the information concerning the pop-up's appearance probabilities, available fuel, time, and even the assumed risk, and then re-launch a decision making