Evolutionary Trajectory Planner for Multiple UAVs in Realistic Scenarios
ABSTRACT This paper presents a path planner for multiple unmanned aerial vehicles (UAVs) based on evolutionary algorithms (EAs) for realistic scenarios. The paths returned by the algorithm fulfill and optimize multiple criteria that 1) are calculated based on the properties of real UAVs, terrains, radars, and missiles and 2) are structured in different levels of priority according to the selected mission. The paths of all the UAVs are obtained with the multiple coordinated agents coevolution EA (MCACEA), which is a general framework that uses an EA per agent (i.e., UAV) that share their optimal solutions to coordinate the evolutions of the EAs populations using cooperation objectives. This planner works offline and online by means of recalculating parts of the original path to avoid unexpected risks while the UAV is flying. Its search space and computation time have been reduced using some special operators in the EAs. The successful results of the paths obtained in multiple scenarios, which are statistically analyzed in the paper, and tested against a simulator that incorporates complex models of the UAVs, radars, and missiles, make us believe that this planner could be used for real-flight missions.
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ABSTRACT: David Goldberg's Genetic Algorithms in Search, Optimization and Machine Learning is by far the bestselling introduction to genetic algorithms. Goldberg is one of the preeminent researchers in the field--he has published over 100 research articles on genetic algorithms and is a student of John Holland, the father of genetic algorithms--and his deep understanding of the material shines through. The book contains a complete listing of a simple genetic algorithm in Pascal, which C programmers can easily understand. The book covers all of the important topics in the field, including crossover, mutation, classifier systems, and fitness scaling, giving a novice with a computer science background enough information to implement a genetic algorithm and describe genetic algorithms to a friend.Addison-Wesley, Reading, Massachusetts. 01/1989;
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ABSTRACT: The scheduling, for autonomous refueling, of multiple unmanned aerial vehicles (UAVs) is posed as a combinatorial optimization problem. An efficient dynamic programming (DP) algorithm is introduced for finding the optimal initial refueling sequence. The optimal sequence needs to be recalculated when conditions change, such as when UAVs join or leave the queue unexpectedly. We develop a systematic shuffle scheme to reconfigure the UAV sequence using the least amount of shuffle steps. A similarity metric over UAV sequences is introduced to quantify the reconfiguration effort which is treated as an additional cost and is integrated into the DP algorithm. Feasibility and limitations of this novel approach are also discussedIEEE Transactions on Robotics 09/2006; · 2.57 Impact Factor
- Proceedings of the Parallel Problem Solving from Nature VI; 01/2000