3D OBSTACLE AVOIDANCE STRATEGIES FOR UAS (UNIHABITED AERIAL SYSTEMS) MISSION PLANNING AND RE-PLANNING

The interest of both the academics and industrials for the UASs (Uninhabited Aerial Systems) has been significantly growing for the last ten years. Technological developments in their design are opening the way for their exploitation in a wide range of applications. Nevertheless, the expected benefits are not yet fully exploited due to the still significant number of accidents. Several researches have demonstrated that the absence of vehicle decisional capacity is among the most important causes of such accidents. One of the proposed solutions is to increase the vehicle ability to perform autonomous mission planning. In this paper a planning algorithm for UASs mission is presented. Such algorithm has been designed following an heuristic approach in order to rapidly provide a robust solution to mission planning problem in evolving scenario. Original obstacle avoidance strategies have been conceived in order to generate mission plans which are consistent with flight rules and with the vehicle performance constraints. Simulation test results show that very efficient routes are computed in a few seconds.