Title: Radar-aware path planning with B-spline trajectory generation for unmanned aerial vehicles (UAVs)

Authors: Ee May Kan, Meng Hiot Lim, Swee Ping Yeo, Zhen Hai Shao, Jiun Sien Ho

Addresses: Intelligent Systems Center, Research TechnoPlaza, Nanyang Technological University, 50 Nanyang Drive, 637553, Singapore. ' Intelligent Systems Center, Research TechnoPlaza, Nanyang Technological University, 50 Nanyang Drive, 637553, Singapore. ' Intelligent Systems Center, Research TechnoPlaza, Nanyang Technological University, 50 Nanyang Drive, 637553, Singapore. ' Intelligent Systems Center, Research TechnoPlaza, Nanyang Technological University, 50 Nanyang Drive, 637553, Singapore. ' Intelligent Systems Center, Research TechnoPlaza, Nanyang Technological University, 50 Nanyang Drive, 637553, Singapore

Abstract: Unmanned aerial vehicles (UAVs) are increasingly being used in real-world applications, mostly military. This paper presents an efficient algorithm for path planning in guidance of autonomous UAV; generating stealthy paths through a set of enemy radar sites of known locations. A preliminary path consisting of a series of straight-line segments is first generated. Subsequently, the path is refined using a series of cubic splines in lieu of the straight line segments, resulting in a cost-effective path traceable by the UAVs. The shape of the trajectory is approximated using cubic B-splines. Simulated results are presented, illustrating the potential benefits of such algorithms.

Keywords: unmanned aerial vehicles; autonomous UAVs; radar avoidance; stealth path planning; B-splines; simulation; trajectory planning.

DOI: 10.1504/IJRIS.2010.036868

International Journal of Reasoning-based Intelligent Systems, 2010 Vol.2 No.3/4, pp.226 - 236

Published online: 12 Nov 2010 *

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