TY - GEN
T1 - Path planning of UAV based on hierarchical genetic algorithm with optimized search region
AU - Li, Jinghua
AU - Huang, Yibin
AU - Xu, Zhao
AU - Wang, Jing
AU - Chen, Mou
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/4
Y1 - 2017/8/4
N2 - In general, the use of genetic algorithms (GA) for unmanned aerial vehicle (UAV) path planning in the whole mission area will cause detours. To improve this issue, a hierarchical genetic algorithm with optimized search region (OSR-HGA) is proposed. This algorithm reduces the search area of hierarchical genetic algorithm automatically by evaluating the distribution of threat sources in the mission area. To guide the searching direction of the algorithm and reduce the occurrence of detours, the heading correction cost and minimum turning radius cost are added to the cost function. The experimental results show the new method can enhance the stability of path planning algorithm by finding shorter paths with less cost and reducing the occurrence of detours effectively.
AB - In general, the use of genetic algorithms (GA) for unmanned aerial vehicle (UAV) path planning in the whole mission area will cause detours. To improve this issue, a hierarchical genetic algorithm with optimized search region (OSR-HGA) is proposed. This algorithm reduces the search area of hierarchical genetic algorithm automatically by evaluating the distribution of threat sources in the mission area. To guide the searching direction of the algorithm and reduce the occurrence of detours, the heading correction cost and minimum turning radius cost are added to the cost function. The experimental results show the new method can enhance the stability of path planning algorithm by finding shorter paths with less cost and reducing the occurrence of detours effectively.
UR - http://www.scopus.com/inward/record.url?scp=85029898278&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2017.8003203
DO - 10.1109/ICCA.2017.8003203
M3 - 会议稿件
AN - SCOPUS:85029898278
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1033
EP - 1038
BT - 2017 13th IEEE International Conference on Control and Automation, ICCA 2017
PB - IEEE Computer Society
T2 - 13th IEEE International Conference on Control and Automation, ICCA 2017
Y2 - 3 July 2017 through 6 July 2017
ER -