Метод автоматического планирования совокупности траекторий для навигации беспилотных транспортных средств
In the article we examine the task of planning for the alternative paths for an unmanned vehicle. This task is a key part of a bigger problem – multi agent path planning, e.g. finding the set of non-conflict paths for a coalition of vehicles. We propose a new path planning method which indirectly takes into account vehicle’s movement dynamics and guarantees the feasibly of the resultant paths. As well we elaborate on a number of modifications of proposed method. We conduct empirical study of all the introduced algorithms by running large number of the experiments simulating nap-of-the-earth flight of compact multirotor unmanned aerial vehicle in urban environment.