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The public reporting burden for this coliection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)Air DISTRIBUTION/AVAILABILITY STATEMENTApproved for public release; distribution is unlimited. SUPPLEMENTARY NOTESTo be presented at the AIAA Guidance Navigation and Control Conference, Austin, TX, August 11-14, 2003. This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. ABSTRACTThis paper presents a path planning and path-elongation method for wide area search munitions, a type of small Unmanned Air Vehicle. Variable-length paths are necessary to allow sufficient flexibility for efficient task assignment meeting timing constraints for UAVs. Five specific cases are developed that identify the best method of elongation based only on the initial position and heading of the vehicle with respect to the target. The cases include one linear direct method of path elongation and four cases which use an iterative approach for the nonlinear path elongation. AbstractThis paper presents a path planning and path-elongation method for wide area search munitions, a type of small Unmanned Air Vehicle. Variable-length paths are necessary to allow sufficient flexibility for efficient task assignment meeting timing constraints for UAVs. Five specific cases are developed that identify the best method of elongation based only on the initial position and heading of the vehicle with respect to the target. The cases include one linear direct method of path elongation and four cases which use an iterative approach for the nonlinear path elongation. The iterative methods are similar to a Newton-Raphson search over a function for a specific value (a path of the desired length). The functions searched are the path length vs. the delay used, are monotonically increasing, and are very well behaved. The result is fast convergence to a small window around the desired value (path length). Multiple aspects of the path elongation program are presented. First, the problem setup is reviewed which includes the correction to the heading algorithm and the definition of the different cases and their associated elongation methods. The process of the iterative method is described and the results of the individual methods are presented. Results are shown for elongated paths for each of the five cases, and simulation results are shovra using the path elongation algorithms in a task assignment problem.

Rick.ett.si.a' les . M.L. fem. n. Rickettsia type genus of the order; ‐ ales ending to denote order; M.L. fem. pl. n. Rickettsiales the Rickettsia order Proteobacteria / Alphaproteobacteria / Rickettsiales