3-D path planning with multi-constrains

A new approach of three-dimensional path planning is proposed. Multi-constrains are taken into account in the planning scheme. A safe flight surface is constructed by utilizing terrain smoothing. Then in horizontal plane a strategy based on azimuth variation of flight path is adopted for planning. A path consists of a series of straight-line is generated by searching in the azimuth space using genetic algorithm and geometry computation. At last path smoothing is done to make the path smooth for flight. Simulation results illustrate that this approach is feasible and the path generated can realize low altitude penetration by taking into account of all kinds of constrains.