Proper

Abstract

Most studies on path planning algorithms for unmanned aerial vehicles (UAVs) have been based on 2D planes. Moreover, the algorithms for 3D planes are facing new challenges. In this paper, we present a 3D path-planning algorithm for UAVs, which takes into consideration the digital terrain elevation data based on altitude information of the UAV, terrain features, surface-to-air missile (SAM) site, and reconnaissance areas. The proposed algorithm enables us to find the shortest path for the UAVs based on the altitude information and extended Voronoi Diagram using the SAM site. It also allows the selection of the optimized path with regard to single and multiple reconnaissance areas. In advanced path confirmation, the algorithm provides the optimized path verified by simulation. As a result, the proposed algorithm for finding the optimized path for the UAV in practical 3D planes has a significant impact on existing research by overcoming the difficulties related to path optimization.