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Title: Contour based path planning for Unmanned Aerial Vehicles (UAVs) over hostile terrain
Authors: Kan, E.M.
Van Khanh, D.
Tan, C.S.
Yeo, S.P. 
Ho, J.S.
Keywords: B-splines
Path planning
Unmanned aerial vehicles (UAVs)
Issue Date: 2009
Citation: Kan, E.M., Van Khanh, D., Tan, C.S., Yeo, S.P., Ho, J.S. (2009). Contour based path planning for Unmanned Aerial Vehicles (UAVs) over hostile terrain. SoCPaR 2009 - Soft Computing and Pattern Recognition : 732-735. ScholarBank@NUS Repository.
Abstract: In this paper, we present a contour based path planner for Unmanned Aerial Vehicles (UAVs).We make use of efficient algorithm to compute a stealthy path line with desired attributes in radar prone environments. The algorithm is employed to estimate the risk cost of the navigational space and generate an optimized path based on the user-specified threshold altitude value. Thus the generated path is represented with a set of low-radar risk waypoints being the coordinates of its control points. The offline path planner is then approximated using cubic B-splines by considering the least radar risk to the destination. Simulated results are presented, illustrating the potential benefits of such algorithms. © 2009 IEEE.
Source Title: SoCPaR 2009 - Soft Computing and Pattern Recognition
ISBN: 9780769538792
DOI: 10.1109/SoCPaR.2009.148
Appears in Collections:Staff Publications

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