Highly Reactive, Real-Time Planner for Aggressive 3D Aircraft Maneuvers to Avoid Unguided Threats.

摘要

This paper presents a technique, Probabilistic Road Map (PRM) planning and its application to aircraft for rapidly generating routes using aggressive maneuvers to avoid incoming munitions, terrain, and other aircraft while trying to maintain other mission objectives. The technique was applied to a high fidelity simulation and shown to always generate correct routes within its 0.1 seconds deadline. Results are presented for several scenarios, some of which are quite complex. Future plans are also described.