TY - GEN
T1 - Multi-objective path planning for UAV in the urban environment based on CDNSGA-II
AU - Ren, Qian
AU - Yao, Yuan
AU - Yang, Gang
AU - Zhou, Xingshe
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/3
Y1 - 2019/5/3
N2 - 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.
AB - 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.
KW - Multi-objective path planning
KW - NSGA-II
KW - Octrees
KW - UAV
KW - Urban environment
UR - https://www.scopus.com/pages/publications/85065996016
U2 - 10.1109/SOSE.2019.00059
DO - 10.1109/SOSE.2019.00059
M3 - 会议稿件
AN - SCOPUS:85065996016
T3 - Proceedings - 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
SP - 350
EP - 355
BT - Proceedings - 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
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 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
Y2 - 4 April 2019 through 9 April 2019
ER -