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: : : : 2015 : .. : : 58 : . ., . ., . . / . 58. .: , 2015. .306-342. : : , , , , , , , , , k , , , LIAN, MultiLIAN. (.): unmanned vehicle, multirotor, quadrotor, navigation, intelligent control system, planning, path planning, path finding, alternative paths, k shortest paths, angle-constrained path planning, heuristic search : (). . , , . . . (.): We study alternative paths planning problem for an unmanned vehicle. It constitutes a key part of a bigger problem that of multi-agent path planning, i.e., finding a non-conflicting path set for a coalition of vehicles. We propose a new path-planning technique, which indirectly takes into account vehicle movement dynamics and guarantees feasibly of resulting paths. We also elaborate a number of extensions of the method proposed. We conduct an empirical study of all introduced algorithms by running the large number of experiments simulating nap-of-the-earth flight of a compact multirotor unmanned aerial vehicle in urban environment. : 3611, : 916, : 10. |