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Multiobjective path planner for UAVs based on genetic algorithms

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Cruz García, Jesús Manuel de la and Besada Portas, Eva and Andrés Toro, Bonifacio de and Torre Cubillo, Luis de la (2008) Multiobjective path planner for UAVs based on genetic algorithms. In Computational Intelligence in Decision and Control. World Scientific Publ Co Pte Ltd, pp. 997-1002. ISBN 978-981-279-946-3

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Official URL: http://dx.doi.org/10.1142/9789812799470_0163




Abstract

This paper presents a path planner for Unmanned Air Vehicles (UAVs) based on Genetic Algorithms (GA) that obtains a feasible and optimal 3-D path for the UAV. It uses 9 different objective values which are calculated with a realistic model of the UAV and the environment and which are structured with 3 levels of priorities. Our planner works globally offline as well as locally online, which means that the algorithm can recalculate parts of the generated path in order to avoid unexpected risks. Finally, the effectiveness of the solutions given by this planner has been successfully tested against a simulator that contains the complete model of the UAV and the environment.


Item Type:Book Section
Additional Information:

© World Scientific Publ.
This research is funded by the projects “COSICOLOGI” S-0505/DPI-0391 (Community of Madird), “Planning, simulation and control for cooperation of multiple UAVs and MAVs” DPI2006-15661-C02-01 (Spanish Ministry of Education and Science) and by EADS 353/2005.

Uncontrolled Keywords:Genetic Algorithms, Multiobjective Planning, UAVs
Subjects:Sciences > Computer science > Artificial intelligence
Sciences > Computer science
ID Code:21845
Deposited On:28 Jun 2013 11:37
Last Modified:04 Jun 2018 14:49

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