Path Planning and State Estimation for Unmanned Aerial Vehicles in Hostile Environments

Unmanned Aerial Vehicles (UAVs) are now widely used in anti-terrorism activities and intelligence gathering to enhance mission performance and maximize safety. The susceptibility of these UAVs in hostile environments raises requirements for flight path planning. Path planning strategies in hostile environments normally are comprised of two phases [1], [2]. The first phase is a Voronoi graph search, which will generate polygonal graphs and will