Considering Terrain Contour MatchingSystem Requirements in the TF/TA Based Constraint Optimal Trajectory Design for UAVs

In this paper, the problem of the Terrain Contour Matching systemrequirement effect in the constraint optimal trajectory
planning of the unmanned aerial vehicles that are require to fly at low altitude over the terrain has been discussed.
According to using this system in some of vehicles as a navigation aiding system,it is more efficient in rough terrain and
given that the optimal path planning methods have generally attempted to cross the paved areas, with this contradiction,
providing the requirements of this system is a complex task. In this paper, it's tried to meet the system requirementsin
the constraint optimal trajectory design process. For this purpose, by developing an algorithm based on the layered
network flow and applying dynamic equations of motion on digital terrain elevation data in the three-dimensional space
with the discrete dynamical constraints and a cost function, a complete model of parameters affecting the system has
been fulfilled. The resulting algorithm,by applying the initial conditions and in the least possible time,produces a
constraint optimal trajectory in such a way that the requirements of the systemare satisfied. Numerical results of
simulation show validity of this issue.