Multi-objective path planning for UAV in the urban environment based on CDNSGA-II

Qian Ren, Yuan Yao, Gang Yang, Xingshe Zhou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

This paper is concerned with path planning for unmanned aerial vehicles (UAVs) in urban environment. Distance is the fundamental goal of path planning. Besides, safety is indispensable for the riskless UAV flight. In this paper, we propose a multi-objective path planning (MOPP) approach based on Non-dominated Sorting Genetic Algorithm II (NSGA-II) to find an optimal collision-free path for UAV, considered both distance and safety. To this aim, firstly, we represent the urban environment by octree, which is an efficient and hierarchical data structure for spatial subdivision in 3D. Meanwhile, safety index map (SIM) are developed to capture obstacles in the geography map. Then, a Crowd Distance NSGA-II (CDNSAG-II) method is proposed to deal with MOPP problem. The experimental results demonstrate that our approach is able to find an optimal path efficiently under urban environment based on octrees.

Original languageEnglish
Title of host publicationProceedings - 13th IEEE International Conference on Service-Oriented System Engineering, SOSE 2019, 10th International Workshop on Joint Cloud Computing, JCC 2019 and 2019 IEEE International Workshop on Cloud Computing in Robotic Systems, CCRS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages350-355
Number of pages6
ISBN (Electronic)9781728114415
DOIs
StatePublished - 3 May 2019
Event13th IEEE International Conference on Service-Oriented System Engineering, SOSE 2019, 10th International Workshop on Joint Cloud Computing, JCC 2019 and 2019 IEEE International Workshop on Cloud Computing in Robotic Systems, CCRS 2019 - San Francisco East Bay, United States
Duration: 4 Apr 20199 Apr 2019

Publication series

NameProceedings - 13th IEEE International Conference on Service-Oriented System Engineering, SOSE 2019, 10th International Workshop on Joint Cloud Computing, JCC 2019 and 2019 IEEE International Workshop on Cloud Computing in Robotic Systems, CCRS 2019

Conference

Conference13th IEEE International Conference on Service-Oriented System Engineering, SOSE 2019, 10th International Workshop on Joint Cloud Computing, JCC 2019 and 2019 IEEE International Workshop on Cloud Computing in Robotic Systems, CCRS 2019
Country/TerritoryUnited States
CitySan Francisco East Bay
Period4/04/199/04/19

Keywords

  • Multi-objective path planning
  • NSGA-II
  • Octrees
  • UAV
  • Urban environment

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