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Ridge-Valley Path Planning for 3D Terrains D. L. Page, A. F. Koschan, M. A. Abidi
 

Summary: Ridge-Valley Path Planning for 3D Terrains
D. L. Page, A. F. Koschan, M. A. Abidi
Imaging, Robotics, and Intelligent Systems
The University of Tennessee
Ferris Hall 336
Knoxville, Tennessee 379962100
Email: {dpage,akoschan,abidi}@utk.edu
J. L. Overholt
U.S. Army TARDEC Robotics Mobility Laboratory
6501 E. 11 Mile Rd.
AMSRD-TAR-R/263
Warren, Michigan 483975000
Email: jim.overholt@us.army.mil
Abstract-- This paper presents a tactical path planning algo-
rithm for following ridges or valleys across a 3D terrain. The
intent is to generate a path that enables an unmanned vehicle to
surveil with maximum observability by traversing the ridges of
a terrain or to operate with maximum covertness by navigating
the valleys. The input to the algorithm is a 3D triangle mesh
model for the terrain of interest. This mesh may be non-uniform

  

Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee

 

Collections: Computer Technologies and Information Sciences