Trajectory planning in the presence of risk regions

We consider the problem of developing fast algorithms for computing short collision-free paths for aerial vehicles in the presence of obstacles and enemy radar installations. When aerial vehicles are deployed in such regions, it is critical to compute admissible paths having reduced exposure to threats. The generalized version of this problem is known to be NP-hard [4]. We consider simplified versions in two dimensions. One of the specific problems we address is to adjust a given k-legged trajectory to reduce exposure to threats. We also propose an algorithm to compute a k-legged risk-reduced path using a stage graph which runs in 0(m 2p) time where m is the number of vertices per turn region and p is the number of radar and obstacle polygon edges. In addition, we describe methods for obtaining multiple risk-reduced paths and node disjoint paths from the stage graph. We also discuss the implementation of the proposed algorithms.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Computer Science

Grantor dc:publisher

University of Nevada, Las Vegas

Year

2003

Author dc:creator

• Sherwood, Michael Allan

Contributors dc:contributor

• Laxmi P. Gewali

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/1561

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-2560