22-10-2012, 04:36 PM
A Practical Approach to Obstacle Field Route Planning for Unmanned Rotorcraft
ABSTRACT
Autonomous helicopter operations in the near-earth environment will require robust and efficient obstacle field route
planning. A method for obstacle field route planning is presented, which is composed of a mesh generation phase, a graph
search phase, and a route refinement phase. The method mixes optimization and heuristics to obtain a satisfactory solution
quickly. Simulations based on an unmanned helicopter model are presented.