Report developed under STTR contract for topic AF02-T002. A path planner and trajectory generator for real time autonomous flight control was developed which is capable of generating extremely complicated paths that account for pop-up and dynamically changing threats. A feasible hierarchical decomposition of the problem using Voronoi diagrams, which affords a significant reduction in the search space, is reported. The trajectory generation problem is decomposed into three distinct, but tightly ...
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