Three-dimensional route planning considering threat blind area

Abstract

The terrain defilade effect was utilized to propose a low altitude penetration 3D route planning method in consideration of blind space. Firstly, the digital elevation map and blind space model were established to obtain the terrain blind space range. Then, the blind space data was invocated in real-time in the planning algorithm. Lastly, A* algorithm was promoted and the planned route was smoothing processed. Simulation results show that the planned route can achieve terrain avoidance and threat avoidance by using blind space effectively. Meanwhile, the smoothing process algorithm has obtained good smoothing effects.