Optimal Three-Dimensional Path Planning Using Visibility Constraints

Abstract

This thesis presents an algorithm for finding optimal three- dimensional paths above polyhedral models of terrain. Airspace is modeled as irregularly-shaped regions of homogeneous probability-of-detection, with respect to one or more fixed observers. The author plans paths by first finding an optimal set of contiguous visibility regions, then an optimal piecewise-linear flight path through this envelope, using Snells Law to find locally-optimal maneuver points. The performance of our region-finding algorithm favorably compares with an alternate approach using regular cubic regions. Keywords: Artificial-intelligence, Spatial reasoning, Paths, Planning Snells law.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1988
Accession Number
ADA207357

Entities

People

  • David H. Lewis

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computer Programming
  • Computer Science
  • Computers
  • Detection
  • Flight
  • Flight Paths
  • Geometry
  • Lisp Programming Language
  • Mathematics
  • Motion Planning
  • Refractive Index
  • Remotely Piloted Vehicles
  • Three Dimensional
  • Two Dimensional
  • United States

Readers

  • Aviation Safety and Air Traffic Management
  • Operations Research
  • Wave Propagation and Nonlinear Chaotic Dynamics.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Space
  • Space - Spacecraft Maneuvers