A DECENTR.ALIZED PROBABILISTIC FRAMEWORK FOR THE PATH PLANNING OF AUTONOMOUS VEHICLES

摘要

A three dimensional probabilistic approach for the path planning of uninhabited air vehicles (UAVs) is presented. The algorithm can be used in real time because of a low computational load in spite of the fact that it finds a path in three dimensions. The paths are locally optimal and are feasible for the UAV to follow by keeping the turn angle within a certain maximum limit. For this purpose, a relation has been derived that transforms the maximum turn angle into a maximum search angle. The UAVs are prevented from flying at very low altitudes to avoid crashing into the ground. Because of limited fuel, a compromise is made between risk and fuel consumption by limiting the height and search angle.