Browse > Article
http://dx.doi.org/10.5139/JKSAS.2014.42.2.127

Determination of Waypoints to Maximize the Survivability of UAV against Anti-air Threats  

Park, Sanghyuk (Department of Aerospace Engineering, Inha University)
Hong, Ju-Hyeon (Department of Aerospace Engineering, Inha University)
Ha, Hyun-Jong (Department of Aerospace Engineering, Inha University)
Ryoo, Chang-Kyung (Department of Aerospace Engineering, Inha University)
Shin, Wonyoung (Agency for Defense Development)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.42, no.2, 2014 , pp. 127-133 More about this Journal
Abstract
This paper proposes a determination method of waypoints to maximize the survivability of a UAV. Voronoi diagram which is used for the initial selection of waypoint candidates is the most widely used path planning technique to avoid the threat as far as possible when the location and strength of the threat are given. But if threat strength is different each other and flight path is constrained along with straight lines, Voronoi diagram has limitations in real applications. In this study, the initial waypoints obtained from Voronoi diagram are optimized considering the shape of each threat. Here, a waypoint is optimized while adjacent waypoints are fixed. By repeating this localized optimization until whole waypoints are converged, computation time for finding the best waypoints is greatly reduced.
Keywords
Path planning; Voronoi diagram; Threat; Optimization;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Lim, K., Park, S. and Shin, H., "Dynamic Construction of the Voronoi Diagram for the Circle set," Proceedings of the Society of CAD/CAM Conference, 2007.
2 Novy, M. C., Jacques, D. R. and Pachter, M., "Air vehicle optimal trajectories between two radars," American Control Conference, Vol. 1, 2002, pp.785-790.
3 Hammouri, O. M. and Matalgah, M. M., "Voronoi path planning technique for recovering communication in UAVs," Proceedings of the 2008 IEEE/ACS International Conference on Computer Systems and Applications, 2008, pp.403-406.
4 Judd, K. B. and McLain, T. W., "Spline based path planning for unmanned air vehicles," AIAA Guidance, Navigation and Control Conference and Exhibit, Montreal, Canada, 2001.
5 Mu, L., "Polygon characterization with the multiplicatively weighted Voronoi diagram," The Professional Geographer, Vol. 56, No. 2, 2004, pp.223-239.
6 Xiao, Q., Gao, X., Fu, X. and Wang, H., "New local path replanning algorithm for unmanned combat air vehicle," Proceedings of the 6th World Congress on Intelligent Control and Automation, 2006, pp.4033-4037.
7 Gutin, G. and Punnen, A. P., The traveling salesman problem and its variations, Springer, 2007.
8 Cormen, T. H., Leiserson, C. E., Rivest, R. L. and Stein, C., Introduction to Algorithms, 2nd, McGraw-Hill Book, 2001.