In this paper an approach to planning collision free path based on probabilistic search is presented. The aim of this study is to design an algorithm for off-line planning a set of way-points which make the collision free route of an UAV. The planning process is based on the map that contains information about altitude of the terrain over which the UAV is intended to perform its mission. The probabilistic method of making the representative model of the terrain was applied in order to reduce a complexity of planning the collision free path. The functioning and efficiency of the approach proposed was illustrated with some exemplary simulations.
Skrzypczyk, K., Gałuszka, A., Pacholczyk, M., & Daniec, K. (2013). Probabilistic approach to planning collision free path of UAV. Studies in Computational Intelligence, 440, 59–68. https://doi.org/10.1007/978-3-642-31665-4_5