| Path Planning of the Low Altitude Flight Unmanned Aerial Vehicle for the Neutralization of the Enemy Firepower |
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Kwang-Jin Yang, Si-Tai Kim, Dae-Han Jung |
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Korea Air Force Academy |
| 대화력전 임무수행을 위한 저고도 비행 무인공격기의 경로계획 |
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양광진, 김시태, 정대한 |
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공군사관학교 |
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| Abstract |
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This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidly Exploring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel. |
| Key Words:
Path Planning, Unmanned Aerial Vehicle, Nonholonomic Constraints, Rapidly-Exploring Random Tree |
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