Far field path planning for rotorcraft NOE missions in amountainous region

摘要

Investigates the problem of finding a path from a designatednstarting point to a designated goal in three-dimensional space for anrotorcraft using the nap-of-the-Earth (NOE) flight tactic. The terrainnconsidered is a mountainous region. The paper examines thencharacteristics of NOE path and also explains the difficulties inngetting an exact cost function for NOE path planning. Based on thencharacteristics of NOE flight, we then present an efficient algorithmnfor the solution of this problem. The worst-case complexity of thenproposed algorithm is O(n² log n) where n is the number ofnvertices of a certain (grid) graph