Collision avoidance and low-observable navigation in a dynamic environment

Ervin Y. Rodin, S. Massoud Amin, Chao Ruan

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

The evasive navigation of an aircraft in the presence of enemy radar or SAM (surface-to-air missile) sites or AWACS is formulated using a time-varying Flexible Delaunay Triangulation (FDT) and an artificial-intelligence-based multi-objective search. It is implemented on a SUN 4 workstation. The system displays the circumdisks, the FDT, and the connected graph for generation of candidate paths. The multi-objective A* algorithm generates the path which satisfies the following requirements: 1) avoidance of the detection range of the moving obstacle; and 2) minimum deviation from the shortest path to the goal. The system then displays the motion of the vehicle and of the moving radar/SAM site in real time. In case of user interruption (for the purpose of inserting, in a simulation, new obstacles crossing the designated path), the FDT retriangulates locally. The closest line to the path is drawn, and A* search is once again performed for generation of the optimum path. Background material on relevant aspects of computational geometry, intelligent control and heuristic search is also given, providing a survey character to this work.

Original languageEnglish (US)
Pages (from-to)77-98
Number of pages22
JournalMathematical and Computer Modelling
Volume16
Issue number5
DOIs
StatePublished - May 1992
Externally publishedYes

Bibliographical note

Funding Information:
This research was supported by AFOSR under Grants No. 870252 and 899158. presented at the Fifth AAAI Conference, Dayton, OH, U.S.A., October 1989.

Fingerprint Dive into the research topics of 'Collision avoidance and low-observable navigation in a dynamic environment'. Together they form a unique fingerprint.

Cite this