Unmanned Aircraft Vehicle Path Planning Based on Open Snakes
He Jin · Jisuanji fangzhen · 2008
To ensure the mission success rate for low attitude penetration,a path to meet the restriction of the unmanned aerial vehicle's(UAV) capability with high survivability must be planned.Improved from the traditional Snakes method,a novel method based on Open Snakes generating optimal UAV flight paths over hostile territory is presented.Given the starting point and end point,the final path is obtained by the evolution of the curve.A threat model including terrain and enemy aerial defense sites with known location is constructed in the form of a gradient field which acts in Open Snakes iterative process as external constraints The virtual forces in the gradient field push the path away from terrain and the given enemy air defense sites.Evaluation method of flight routes cost developed from Open Snake model is also presented.Experimental results have proved this path planning methodology of low fight cost for UAV can be implemented by our algorithm with low computational cost.