A multi-modal optimization approach to single path planning for unmanned aerial vehicle

Peng YANG, Guanzhou LU, Ke TANG, Xin YAO

Research output: Book Chapters | Papers in Conference ProceedingsConference paper (refereed)Researchpeer-review

3 Citations (Scopus)

Abstract

In the past few years, Evolutionary Algorithms (EAs) based UAV path planners have drawn increasing research interests. However, they are not scalable to large-scale problems, i.e., lots of waypoints. Recently, we have proposed a novel EA-based framework, named Separately Evolving Waypoints (SEW), that can deal with large-scale problems. However, the difficulty of UAV path planning depends not only on the number of waypoints, but on the number of constraints it has to satisfy, especially the number of obstacles. In particular, the number of waypoints required is also partly determined by the number of constraints. Hence, it is critical to further improve SEW with respect to large number of obstacles. Originally, a state-of-the-art global optimization approach is employed. In this work, we discuss how the increasing number of obstacles will deteriorate the performance of the global optimizer, then we propose multimodal optimization approaches that facilitates the performance of SEW against large number of obstacles. © 2016 IEEE.
Original languageEnglish
Title of host publication2016 IEEE Congress on Evolutionary Computation, CEC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1735-1742
Number of pages8
ISBN (Print)9781509006229
DOIs
Publication statusPublished - Jul 2016
Externally publishedYes

Keywords

  • Multi-Modal Optimization
  • Path Planning
  • Separately Evolving Waypoints
  • Unmanned Aerial Vehicle

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