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This paper studies the notion of obstacle-avoidance guidance, and investigates the issues in automating this function by considering helicopter nap-of-the-earth (NOE) flight as an example. In particular, it considers a hierarchy of guidance components, including mission planning and obstacle avoidance. Based on this hierarchical breakdown, the functional requirements of obstacle-avoidance guidance are identified. An effort in developing automatic guidance algorithms to meet these requirements is presented, along with the necesssary simulation tools for evaluation of these algorithms.
Victor Cheng (Mon,) studied this question.