RT Book, Section
T1 Multiobjective path planner for UAVs based on genetic algorithms
A1 Cruz García, Jesús Manuel de la
A1 Besada Portas, Eva
A1 Andrés Toro, Bonifacio de
A1 Torre Cubillo, Luis de la
AB This paper presents a path planner for Unmanned Air Vehicles (UAVs) based on Genetic Algorithms (GA) that obtains a feasible and optimal 3-D path for the UAV. It uses 9 different objective values which are calculated with a realistic model of the UAV and the environment and which are structured with 3 levels of priorities. Our planner works globally offline as well as locally online, which means that the algorithm can recalculate parts of the generated path in order to avoid unexpected risks. Finally, the effectiveness of the solutions given by this planner has been successfully tested against a simulator that contains the complete model of the UAV and the environment.
PB World Scientific Publ Co Pte Ltd
SN 978-981-279-946-3
YR 2008
FD 2008
LK https://hdl.handle.net/20.500.14352/53254
UL https://hdl.handle.net/20.500.14352/53254
LA eng
NO © World Scientific Publ.This research is funded by the projects “COSICOLOGI” S-0505/DPI-0391 (Community of Madird), “Planning, simulation and control for cooperation of multiple UAVs and MAVs” DPI2006-15661-C02-01 (Spanish Ministry of Education and Science) and by EADS 353/2005.
NO COSICOLOGI Community of Madrid
NO Spanish Ministry of Education and Science
DS Docta Complutense
RD 8 may 2024