Route Planning for UAVs Using Improved Stream Function Method
Cao Menglei · Electronics Optics & Control · 2012
An improved stream function method for UAV route planning in complex terrain was presented.Considering the problems existed in route planning of traditional stream function method,we made theoretical analysis and proposed a virtual dynamic target method,which could solve the route planning problem when two obstacles overlapping with each other.The UAV's maneuvering constraints were transformed into virtual obstacles,thus to guarantee that the route planned by the algorithm was flyable for the UAV.The simulation results showed that the method presented in the paper can plan a feasible route in complex terrain for UAV in a short time.