1 THREE-DIMENSIONAL MULTI-OBJECTIVE UAV PATH PLANNER USING TERRAIN INFORMATION

Military operations are turning to more complex and advanced automation technology for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles (UAVs). UAVs require the intelligence to safely maneuver along a path to an intended target, avoiding obstacles such as other aircrafts or enemy threats. Often automated path planning algorithms are employed to specify targets for a UAV to fly to. To date, path-planning algorithms have been limited to providing only a single solution (alternate) path without further inputs from the UAV controller. This paper presents a unique platform for decision making in a three-dimensional path planner where multiple solution paths are generated in the form of meta-paths. The path planner uses Particle Swarm Optimization (PSO) to generate multiple solution paths based on predefined criteria. The problem formulation was designed to minimize risk due to enemy threats, to minimize fuel consumption incurred by deviating from the original path, and takes into account reconnaissance targets. Using PSO, alternate paths are generated using B-spline curves, optimized based on preferences set for the three objectives. The resulting paths can be optimized with a preference towards maximum safety, minimum fuel consumption, or target reconnaissance. By incorporating terrain data into the path planner, the algorithm ensures that the generated alternate paths are feasible and at a safe height above ground. Viewing the paths in an immersive environment allows the decision making process to be completed in an efficient and organized manner. The problem formulation and solution implementation is described along with the results from several simulated scenarios. I