Route Planning in 3D Environment with a Multivariant Model

We present results of the research on the planning of routes of unmanned vehicles (autonomous moving objects). The routing is based on the multivariant route model (MRM) formed a priori as a set of alternative paths from an initial point to the target. The MRM construction is done using the computer method of functional voxel modeling, combining the analytical form of describing a 3D-environment with the voxel representation of its local geometrical characteristics. Synthesis of the motion control and stabilization of the path trajectory are done by representing the control object as a multimode model and applying the reduction method to it.