Path planning for mine countermeasures
An apparatus 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.
1. An apparatus for plotting a route through a minefield, comprising:
a computing means for manipulating algorithms for generating obstacle spaces and a path through said obstacle spaces; and
a graphical user interface means for inputting data to said algorithms and displaying solutions created by said algorithms,
wherein said obstacle spaces are circular obstacle spaces with a radii proportional to the probability of the existence of a mine.
2. An apparatus as defined by claim 1 , comprising:
means for controlling said radii of said circular obstacle spaces.
3. An apparatus as defined by claim 1 , comprising:
large circular obstacle spaces concentrically covering said circular obstacle spaces; and
said large circular obstacle spaces have radii proportional to the probability of the existence of a mine plus a probability increasing factor.
4. An apparatus for plotting a route through a minefield, comprising:
a computing means for manipulating algorithms for generating obstacle spaces and a path through said obstacle spaces; and
a graphical user interface means for inputting data to said algorithms and displaying solutions created by said algorithms,
wherein said obstacle spaces are three dimensional cones having radii about the vertical axis proportional to the speed of transit along said path and said radii equals the probability of the existence of a mine.
5. An apparatus for plotting a route through a minefield, comprising:
a computing means for manipulating algorithms for generating obstacle spaces and a path through said obstacle spaces; and
a graphical user interface means for inputting data to said algorithms and displaying solutions created by said algorithms,
wherein said algorithms include a rapidly-explored random trees algorithm means for calculating said path.
6. An apparatus as defined by claim 5 , wherein said means for
generating said path comprises:
communication means for providing intercourse between said computing means and said graphical user interface;
a database containing world objects; and
a path solver interface means for coupling said means for calculating said path to said database and said communication means.
7. An apparatus as defined by claim 3 , wherein said algorithms include a rapidly-explored random trees algorithm means for calculating said path.
8. An apparatus as defined by claim 7 , wherein said means for generating said path comprises:
communication means for providing intercourse between said computing means and said graphical user interface;
a database containing world objects; and
a path solver interface means for coupling said means for calculating said path to said database and said communication means.
9. An apparatus as defined by claim 4 , wherein said algorithms include a rapidly-explored random trees algorithm means for calculating said path.
10. An apparatus as defined by claim 9 , wherein said means for generating said path comprises:
communication means for providing intercourse between said computing means and said graphical user interface;
a database containing world objects; and
a path solver interface means for coupling said means for calculating said path to said database and said communication means.