Computational geometry: an introduction
Computational geometry: an introduction
Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Automatica (Journal of IFAC)
Optimal path-finding algorithms*
Search in Artificial Intelligence
Applied Mathematics Letters
Expert systems and air-combat simulation
AI Expert
An Expert System for Real-Time Control
IEEE Software
Computational Geometry A Survey
IEEE Transactions on Computers
Real-time heuristic search: first results
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 1
IEEE Transactions on Information Theory
| Hi-index | 0.98 |
The evasive navigation of an aircraft in the presence of enemy radar or SAM (surface-to-air missile) sites or AWACS is formulated using a time-varying Flexible Delaunay Triangulation (FDT) and an artificial-intelligence-based multi-objective search. It is implemented on a SUN 4 workstation. The system displays the circumdisks, the FDT, and the connected graph for generation of candidate paths. The multi-objective A"* algorithm generates the path which satisfies the following requirements: 1) avoidance of the detection range of the moving obstacle; and 2) minimum deviation from the shortest path to the goal. The system then displays the motion of the vehicle and of the moving radar/SAM site in real time. In case of user interruption (for the purpose of inserting, in a simulation, new obstacles crossing the designated path), the FDT retriangulates locally. The closest line to the path is drawn, and A"* search is once again performed for generation of the optimum path. Background material on relevant aspects of computational geometry, intelligent control and heuristic search is also given, providing a survey character to this work.