Paper Info
Title
Heuristic And Genetic Algorithm Approaches For Uav Path Planning Under Critical Situation
Abstract
The present paper applies a heuristic and genetic algorithms approaches to the path planning problem for Unmanned Aerial Vehicles (UAVs), during an emergency landing, without putting at risk people and properties. The path re-planning can be caused by critical situations such as equipment failures or extreme environmental events, which lead the current UAV mission to be aborted by executing an emergency landing. This path planning problem is introduced through a mathematical formulation, where all problem constraints are properly described. Planner algorithms must define a new path to land the UAV following problem constraints. Three path planning approaches are introduced: greedy heuristic, genetic algorithm and multi-population genetic algorithm. The greedy heuristic aims at quickly find feasible paths, while the genetic algorithms are able to return better quality solutions within a reasonable computational time. These methods are evaluated over a large set of scenarios with different levels of difficulty. Simulations are also conducted by using FlightGear simulator, where the UAV's behaviour is evaluated for different wind velocities and wind directions. Statistical analysis reveal that combining the greedy heuristic with the genetic algorithms is a good strategy for this problem.
Year
DOI
Venue
2017
10.1142/S0218213017600089
INTERNATIONAL JOURNAL ON ARTIFICIAL INTELLIGENCE TOOLS
Keywords
Field
DocType
Genetic algorithms, unmanned aerial vehicles, path planning, risk allocation, uncertainty
Motion planning,Heuristic,Any-angle path planning,Mathematical optimization,Computer science,Risk allocation,Genetic algorithm
Journal
Volume
Issue
ISSN
26
1
0218-2130
Citations 
PageRank 
References 
10
0.66
13
Authors
5
Name
Order
Citations
PageRank
Jesimar da Silva Arantes1172.31
MáRcio Da Silva Arantes2607.32
Claudio Fabiano Motta Toledo3348.83
Onofre Trindade Júnior4202.00
B C Williams52404426.13