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http://dx.doi.org/10.5139/JKSAS.2019.47.12.874

Layered Visibility Graph With Convex Hull to Avoid the Complex Terrain for UAV  

Lim, Daehee (Pusan National University)
Park, Jihoon (Pusan National University)
Min, Chanoh (Korea Aerospace Industries)
Jang, Hwanchol (Agency for Defense Development)
Lee, Daewoo (Pusan National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.47, no.12, 2019 , pp. 874-880 More about this Journal
Abstract
This paper introduces a method which can be effectively used for the path planning of UAV in a realistic map which has mountainous terrains, air defense networks and radars based on the Visibility Graph. Existing studies of Visibility Graph have been studied mainly for simple shape obstacles in 2-dimensional environment such as self-driving cars which avoid buildings. However, for UAV, Visibility Graph must be used in 3-dimensional environment for the variance of altitude. This occurs significant elapsed time increase because of the increase of the amount of the visibility of node sets. To solve this problem, this paper decrease the number of nodes which consists the complex terrain environments using convex hull based on Layered Visibility Graph. With convex hull method, this paper confirmed that the elapsed time is decreased about 99.5% compared to the case which has no decrease of the number of nodes.
Keywords
Fixed-wing UAV; Layered Visibility Graph; 3-D Path Planning; 3D Visibility Graph;
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Times Cited By KSCI : 1  (Citation Analysis)
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