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research-article

Fast trajectory planning for Dubins vehicles under cumulative probability of radar detection

Authors:

Shiji SongAuthors Info & Claims

Volume 210, Issue C

https://doi.org/10.1016/j.sigpro.2023.109085

Published: 01 September 2023 Publication History

Highlights

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Joint consideration of the cumulative probability of radar detection and the dynamical constraint for the minimum-time trajectory planning problem.

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Necessary conditions of the non-convex functional optimization problem by Pontryagin’s minimum principle.

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Fast trajectory planning algorithms with a low computational cost, based on the idea of intermediate points.

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Abstract

This paper studies a minimum-time trajectory planning problem under radar detection, where a Dubins vehicle aims to approach a target under a limited probability of being detected. Since the probability is accumulated along the vehicle’s trajectory in an integral form, we have to address a non-convex constrained functional optimization problem. To this end, Pontryagin’s minimum principle is adopted to derive the optimality conditions, based on which we obtain a set of parameterized trajectories that contain all optimal ones. By leveraging the design of intermediate points, fast algorithms are proposed to approximately compute a minimum-time trajectory among the set. Simulations are performed to validate the effectiveness and efficiency of the proposed algorithms.

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Cited By

Xiang HLiu XSong XZhou W(2023)UAV Path Planning Based on Enhanced PSO-GAArtificial Intelligence10.1007/978-981-99-9119-8_25(271-282)Online publication date: 22-Jul-2023
https://dl.acm.org/doi/10.1007/978-981-99-9119-8_25

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Information & Contributors

Information

Published In

cover image Signal Processing

Signal Processing Volume 210, Issue C

Sep 2023

418 pages

ISSN:0165-1684

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Copyright © 2023.

Publisher

Elsevier North-Holland, Inc.

United States

Publication History

Published: 01 September 2023

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Cited By

Xiang HLiu XSong XZhou W(2023)UAV Path Planning Based on Enhanced PSO-GAArtificial Intelligence10.1007/978-981-99-9119-8_25(271-282)Online publication date: 22-Jul-2023
https://dl.acm.org/doi/10.1007/978-981-99-9119-8_25

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