Please use this identifier to cite or link to this item: https://hdl.handle.net/11499/56720
Title: Narrowed Regions-based Bidirectional Path Planning Using RRT-Connect for Single Aircraft Missions
Authors: Candemir, D.
Kök, I.
Ozdemir, S.
Keywords: aircraft
mission planning
Path planning
robotics
RRT
Fighter aircraft
Flight paths
Iterative methods
Robot programming
'current
A* algorithm
Constrained sampling
Iterative process
Mission planning
Region-based
RRT
Sampling strategies
Smooth trajectories
Target location
Motion planning
Publisher: Elsevier B.V.
Abstract: Fighter aircraft, the emblem of modern military aviation, have decisively shaped the landscape of contemporary warfare. These machines are purpose-built and equipped to carry out a variety of missions. Mission planning is a common practice, usually done before the aircraft takes off. However, the volatile nature of warfare poses a major challenge to the precise execution of preplanned missions. If the established flight path needs to be adjusted during a mission, a new path must be created and the mission completed using the newly derived flight path. In this study, we present a novel approach to path planning using a modified RRT connect algorithm. By considering the nearest nodes in two trees starting from Tinit and Tgoal, we use a constrained sampling strategy within a bounded environment. This iterative process creates a tree between the current and target locations and a path is extracted using the A* algorithm. The proposed method aims to omit samples in regions where the passage of the aircraft is infeasible or costly, resulting in a smoother trajectory. Experiments in different scenarios have shown that the method consistently delivers smooth routes. This research demonstrates the potential of our approach to improve the adaptability and performance of mission-critical aircraft in dynamic environments. © 2024 Elsevier B.V.. All rights reserved.
Description: 14th International Conference on Emerging Ubiquitous Systems and Pervasive Networks / 13th International Conference on Current and Future Trends of Information and Communication Technologies in Healthcare, EUSPN/ICTH 2023 -- 7 November -- 196395 2023 through 9 November 2023
URI: https://doi.org/10.1016/j.procs.2023.12.158
https://hdl.handle.net/11499/56720
ISSN: 1877-0509
Appears in Collections:Mühendislik Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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