Radar-aware path planning with B-spline trajectory generation for unmanned aerial vehicles (UAVs)
Ee May Kan, Meng Hiot Lim, Swee Ping Yeo, Zhen Hai Shao, Jiun-Sien Ho · International Journal of Reasoning-based Intelligent Systems · 2010
Unmanned aerial vehicles (UAVs) are increasingly being used in real-world applications, mostly military. This paper presents an efficient algorithm for path planning in guidance of autonomous UAV; generating stealthy paths through a set of enemy radar sites of known locations. A preliminary path consisting of a series of straight-line segments is first generated. Subsequently, the path is refined using a series of cubic splines in lieu of the straight line segments, resulting in a cost-effective path traceable by the UAVs. The shape of the trajectory is approximated using cubic B-splines. Simulated results are presented, illustrating the potential benefits of such algorithms.