3-D path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms


Hasircioglu I., TOPCUOĞLU H. R., ERMİŞ M.

10th Annual Genetic and Evolutionary Computation Conference, GECCO 2008, Atlanta, GA, United States Of America, 12 - 16 July 2008, pp.1499-1506 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1145/1389095.1389386
  • City: Atlanta, GA
  • Country: United States Of America
  • Page Numbers: pp.1499-1506
  • Keywords: B-spline curves, Genetic algorithms, Path planning, Unmanned aerial vehicles
  • Istanbul Kültür University Affiliated: Yes

Abstract

Military missions are turning to more complicated and advanced automation technology for maximum endurance and efficiency as well as the minimum vital risks. The path planners which generate collision-free and optimized paths are needed to give autonomous operation capability to the Unmanned Aerial Vehicles (UAVs). This paper presents an off-line path planner for UAVs. The path planner is based on Evolutionary Algorithms (EA), in order to calculate a curved path line with desired attributes in a 3-D terrain. The flight path is represented by parameterized B-Spline curves by considering four objectives: the shortest path to the destination, the feasible path without terrain collision, the path with the desired minimum and maximum distance to the terrain, and the path which provides UAV to maneuver with an angle greater than the minimum radius of curvature. The generated path is represented with the coordinates of its control points being the genes of the chromosome of the EA. The proposed method was tested in several 3-D terrains, which are generated with various terrain generator methods that differ with respect to levels of smoothness of the terrain. Copyright 2008 ACM.