A Novel Dynamic Programming Based Method for Path Planning with Navigation Error Correction

The navigation error of aircraft increases in task. Aircraft should correct the navigation error in time during task to avoid path deviation caused by navigation error. Aircraft path planning with navigation error correction is a discrete constrained optimization problem and is a challenge for the traditional path planning methods. In this paper, we propose a novel dynamic programming based method to solve this problem. Our method outputs the optimal path in terms of the number of error correction regions from $2^{n}$ possible paths and the computational complexity of our method is $\mathrm{O}(n^{3})$ where $n$ represents the number of error correction regions. We also improve Dijkstra method to compute almost optimal path in term of the length of the path and achieve good performance on simulated data.

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