Author:
Shorakaei Hamed,Vahdani Mojtaba,Imani Babak,Gholami Ali.
Abstract
SUMMARYThe current paper presents a path planning method based on probability maps and uses a new genetic algorithm for a group of UAVs. The probability map consists of cells that display the probability which the UAV will not encounter a hostile threat. The probability map is defined by three events. The obstacles are modeled in the probability map, as well. The cost function is defined such that all cells are surveyed in the path track. The simple formula based on the unique vector is presented to find this cell position. Generally, the cost function is formed by two parts; one part for optimizing the path of each UAV and the other for preventing UAVs from collision. The first part is a combination of safety and length of path and the second part is formed by an exponential function. Then, the optimal paths of each UAV are obtained by the genetic algorithm in a parallel form. According to the dimensions of path planning, genetic encoding has two or three indices. A new genetic operator is introduced to select an appropriate pair of chromosome for crossover operation. The effectiveness of the method is shown by several simulations.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference14 articles.
1. M. Jun and R. D'Andrea , “Path planning for unmanned aerial vehicles in uncertain and adversarial environments,” Cooperative Control: Models, Applications and Algorithms (2002) pp. 95–111.
2. Real-time path planning with limited information for autonomous unmanned air vehicles
3. Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs
4. R. G. Brian , et al., “Optimal Path Planning of UAVs Using Direct Collocation with Nonlinear Programming,” American Institute of Aeronautics and Astronautics (2006).
5. Sonar-based real-world mapping and navigation
Cited by
59 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献