Path planning for mine countermeasures

摘要

A means for mine avoidance that enables a battle group commander to rapidly detect, classify, and identify mines, and form a tactical picture of mined areas. The system is enabled by a graphical user interface which generates a display of the minefield and an avoidance path which is calculated by a rapidly-explored random trees algorithm interacting with algorithms defining avoidance object spaces inserted by an operator in two or three dimensions and transit vehicle characteristics. The apparatus enables a method which establishes the parameters of an area representing a minefield. The area is then populated with obstacle spaces whose areas are functions of the probability of the existence of a mine and through which an avoidance route through the minefield may not pass. The start and end points of the avoidance route are entered on a graphic display of the minefield and an avoidance path there between is calculated and presented as an avoidance route.