[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

194 D. Cedrych et al.
, ,…, , , 1,2,…, (1)
The goal of the planner module is to calculate in the 3D space a set of points that
lay between the locations defined by operator. Therefore for each pair of points:
, , 1,2,…,1 (2)
the module is intended to find a set of way points that determine the collision free
path defined in 3D space:
, ,…, , , , , , , , , 1,2, … , 1 (3)
As it was mentioned before the overall process of calculating the path in 3D space
is split on two stages. First one is determination the path in 2D space and second -
extension the original path on the 3D space. All further discussion will be made,
without the loss of generality, for a single pair of points defined in (2), and denoted
hereafter as: , . Of course all the process can be repeated for any pair
of the points.
2.3 Map of the Terrain
The process of planning the collision free path is based on the assumption that the
system is provided with the map that contains data about height of each point of
the terrain. In this chapter the map is adopted from the map database that also
includes the surface details [26]. We chose surroundings of the border line between
Poland and Slovakia shown in the Figure 2. The Matlab model of the terrain
is shown in the Figure 3.
Fig. 2. Real map of the terrain. The gray color is the terrain of Poland, green – of Slovakia.