A Study on the Algorithm for Automatic Generation of Optimal Waypoint with Terrain Avoidance

지형 회피를 위한 최적 경로점 자동 생성 알고리듬 연구

  • 박정진 (인하대학교 항공우주공학과) ;
  • 박상혁 (인하대학교 항공우주공학과) ;
  • 유창경 (인하대학교 기계항공공학부) ;
  • 신성식 (대한항공기술연구원)
  • Published : 2009.11.01


In the low altitude, mission of the aircraft is restricted by a variety of threats such as anti-air missiles and terrain obstacles. Especially, aircraft have always a risk of ground collision near terrain. In this study, to effectively solve this problem, we developed the flight path generation algorithm that is considered the terrain avoidance. In this flight path generation algorithm, waypoints that should be passed by the UAV are selected first. The waypoints are located in the middle of the terrain obstacles. Then, physically meaningful waypoints sets are classified by Dijkstra algorithm. The optimal waypoint guidance law based on the optimal control theory is applied to produce trajectory candidates. And finally the minimum control energy trajectory is determined.


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