Robust algorithm for real-time route planning 论文

摘要

Route planning for intelligent guidance and navigation systems is an extremely complex problem with both military and commercial applications. Standard route planning algorithms usually generate a minimum cost route based on a predetermined cost function. Unfortunately, such a solution may not represent a desirable route for various mission scenarios. We present a novel route planning approach to generate mission-adaptable routes in an accurate and efficient manner. The routes are computed in real-time and are able to take into account various mission constraints including: minimum route leg length, maximum turning angle, route distance constraint, and fixed approach vector to goal position.