Efficient Path Optimization with Terrain Avoidance
Gillian Keith, JAMES TAIT, Arthur Richards · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2007
This paper presents a new algorithm for optimal path planning subject to terrain avoidance constraints. The new method extends an existing approach based on Mixed-Integer Linear Programming (MILP) to oer significant improvements in computational eciency, while guaranteeing globally optimal solution of the path-planning problem. This improvement is the result of three key enhancements. First, the terrain representation is reformulated as a piecewise ane function, resulting in a better conditioned MILP problem. Second, an ecient method of approximating and simplifying real terrain data is developed. Finally, an iterative MILP solution approach is adopted, reducing computational eort by avoiding the application of redundant constraints. The new method is shown to oer significant reductions in solution time for only small loss of performance in terms of the planning objective.