Online Route Planner for Unmanned Air Vehicle Navigation in Unknown Battlefield Environment

In this paper, the problem of on-line route planning problem of unmanned air vehicle is discussed with the proposal of a new real-time planner. By interleaving route planning with the flying of the vehicle, our algorithm can adjust the time of search and meet for the requirements of real-time in-flight applications. With more search time, the planner can enhance the performance of the resultant routes effectively and steer clear of the threat area successfully. The experimental results illustrated that our algorithm can take into account different kinds of mission constraints and generate desired solutions in real-time