Evolutionary Algorithms have been used as a viable candidate to solve path planning problems effectively and provide feasible solutions within a short time. In this work a Radial Basis Functions Artificial Neural Network (RBF-ANN) assisted Differential Evolution (DE) algorithm is used to design an off-line path planner for Unmanned Aerial Vehicles (UAVs) coordinated navigation in known static maritime environments. A number of UAVs are launched from different known initial locations and the issue is to produce 2-D trajectories, with a smooth velocity distribution along each trajectory, aiming at reaching a predetermined target location, while ensuring collision avoidance and satisfying specific route and coordination constraints and objectives. B-Spline curves are used, in order to model both the 2-D trajectories and the velocity distribution along each flight path.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Newcome, L.R.: Unmanned Aviation, a Brief History of Unmanned Aerial Vehi- cles. AIAA (2004)
Latombe, J.-C.: Robot Motion Planning. Kluwer Academic Publishers (1991)
LaValle, S.M.: Planning Algorithms. Cambridge University Press (2006)
Gilmore, J.F.: Autonomous vehicle planning analysis methodology. Proceedings of the Association of Unmanned Vehicles Systems Conference. Washington, DC (1991)503-509
Uny Cao, Y., Fukunaga, A.S., Kahng, A.B.: Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots 4 (1997) 7-27
Fujimura, K.: Motion Planning in Dynamic Environments. Springer-Verlag, New York, NY, (1991)
Arai, T. and Ota, J. 1992. Motion planning of multiple robots. Proceedings of the IEEE/RSJ IROS (1992) 1761-1768
Shima, T., Rasmussen, S.J., Sparks, A.G.: UAV Cooperative Multiple Task Assignments using Genetic Algorithms. Proceedings of the 2005 American Con-trol Conference, June 8-10, Portland, OR, USA (2005)
Shima, T., Rasmussen, S.J., Sparks, A.G.: UAV Team Decision and Control using Efficient Collaborative Estimation. Proceedings of the 2005 American Control Conference, June 8-10, Portland, OR, USA (2005)
Mitchell, J.W. and Sparks, A.G.: Communication Issues in the Cooperative Control of Unmanned Aerial Vehicles. Proceedings of the Forty-First Annual Allerton Conference on Communication, Control, & Computing (2003)
Schumacher, C.: Ground Moving Target Engagement by Cooperative UAVs. Proceedings of the 2005 American Control Conference, June 8-10, Portland, OR, USA (2005)
Moitra, A., Mattheyses, R.M., Hoebel, L.J., Szczerba, R.J., Yamrom, B.: Mul-tivehicle reconnaissance route and sensor planning. IEEE Transactions on Aerospace and Electronic Systems, 37 (2003) 799-812
Bortoff, S.: Path planning for UAVs. Proceedings of the Amer. Control Conf., Chicago, IL, (2000) 364-368
Szczerba, R.J., Galkowski, P., Glickstein, I.S., and Ternullo, N.: Robust algo-rithm for real-time route planning. IEEE Transactions on Aerospace Electronic Systems 36 (2000) 869-878
Zheng, C., Li, L., Xu, F., Sun, F., Ding, M.: Evolutionary Route Planner for Unmanned Air Vehicles. IEEE Transactions on Robotics 21 (2005) 609-620
Beard, R.W., McLain, T.W., Goodrich, M.A., Anderson, E.P.: Coordinated tar-get assignment and intercept for unmanned air vehicles. IEEE Transactions on Robotics and Automation, 18 (2002) 911-922
Vandapel, N., Kuffner, J., Amidi, O.: Planning 3-D Path Networks in Unstruc-tured Environments. Proceedings of the IEEE International Conference on Robotics and Automation, ICRA (2005)
Dubins, L.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal position. American Journal of Math. 79 (1957) 497-516.
Shima, T., Schumacher, C.: Assignment of cooperating UAVs to simultaneous tasks using Genetic Algorithms. AIAA Guidance, Navigation, and Control Con-ference and Exhibit, San Francisco (2005)
Tang, Z., and Ozguner, U.: Motion Planning for Multi-Target Surveillance with Mobile Sensor Agents. IEEE Transactions on Robotics 21 (2005) 898-908
Martinez-Alfaro H., and Gomez-Garcia, S.: Mobile robot path planning and tracking using simulated annealing and fuzzy logic control. Expert Systems with Applications 15 (1988) 421-429
Nikolos, I.K., Tsourveloudis, N., and Valavanis, K.P.: Evolutionary Algorithm Based 3-D Path Planner for UAV Navigation. CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation, Dubrovnik, Croatia (2001)
Nikolos, I.K., Valavanis, K.P., Tsourveloudis, N.C., Kostaras, A.: Evolutionary Algorithm based offline / online path planner for UAV navigation. IEEE Trans-actions on Systems, Man, and Cybernetics - Part B: Cybernetics 33 (2003) 898-912
Mettler, B., Schouwenaars, T., How, J., Paunicka, J., and Feron E.: Autonomous UAV guidance build-up: Flight-test Demonstration and evaluation plan. Pro-ceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA-2003-5744 (2003)
Richards, A., Bellingham, J., Tillerson, M., and How., J.: Coordination and control of UAVs. Proceedings of the AIAA Guidance, Navigation and Control Conference, Monterey, CA, (2002)
Schouwenaars, T., How, J., and Feron, E.: Decentralized Cooperative Trajectory Planning of multiple aircraft with hard safety guarantees. Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA-2004-5141 (2004)
Flint, M., Polycarpou, M., and Fernandez-Gaucherand, E.: Cooperative Control for Multiple Autonomous UAV’s Searching for Targets. Proceedings of the 41st IEEE Conference on Decision and Control (2002)
Gomez Ortega, J., and Camacho, E.F.: Mobile Robot navigation in a partially structured static environment, using neural predictive control. Control Eng. Practice 4 (1996) 1669-1679
Kwon, Y.D., and Lee, J.S.: On-line evolutionary optimization of fuzzy con-trol system based on decentralized population. Intelligent Automation and Soft Computing 6 (2000) 135-146
Michalewicz, Z.: Genetic Algorithms + Data Structures = Evolution Programs. Springer Publications (1999)
Smierzchalski, R.: Evolutionary trajectory planning of ships in navigation traffic areas. Journal of Marine Science and Technology 4 (1999) 1-6
Smierzchalski, R., and Michalewicz Z.: Modeling of ship trajectory in collision situations by an evolutionary algorithm. IEEE Transactions on Evolutionary Computation 4 (2000) 227-241
Sugihara, K., and Smith, J.: Genetic Algorithms for Adaptive Motion Planning of an Autonomous Mobile Robot. Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Mon-terey, California (1997) 138-143
Sugihara, K., and Yuh, J.: GA-based motion planning for underwater robotic vehicles. UUST-10, Durham, NH (1997)
Nikolos, I.K., Brintaki, A.: Coordinated UAV Path Planning Using Differential Evolution. Proceedings of the 13th Mediterranean Conference on Control and Automation, IEEE, Limassol, Cyprus (2005)
Piegl, L., Tiller, W.: The NURBS Book. Springer (1997)
Farin, G.: Curves and Surfaces for Computer Aided Geometric Design, A Prac- tical Guide. Academic Press (1988)
Goldberg, D.E.: Genetic Algorithms in Search, Optimization and Machine Learning. Addison-Wesley (1989)
Holland, J.H.: Adaptation in Natural and Artificial Systems. The MIT Press (1992)
Storn, R., and Price, K.: DE - a Simple and Efficient Adaptive Scheme for Global Optimization over Continuous Space. ICSI, Technical Report TR-95-012 (1995)
Price, K.V., Storn, R.M., Lampinen, J.A.: Differential Evolution, a Practical Approach to Global Optimization. Springer-Verlag, Berlin Heidelberg (2005)
Hui-Yuan F., Lampinen J., Dulikravich G.S.: Improvements to Mutation Donor Formulation of Differential Evolution. Proceedings of EUROGEN 2003 confer-ence on Evolutionary Methods for Design, Optimization and Control, Applica-tions to Industrial and Societal Problems, CIMNE, Barcelona (2003)
Marse, K. and Roberts, S.D.: Implementing a portable FORTRAN uniform (0,1) generator. Simulation (1983) 41-135
Torczon, V., Trosset, M.W.: Using Approximations to Accelerate Engineering Design Optimization. NASA/CR-1998-208460, ICASE Report No. 98-33 (1998)
Giannakoglou, K.C.: Design of optimal aerodynamic shapes using stochastic optimization methods and computational intelligence. Progress in Aerospace Sciences 38 (2002) 43-76
Myers, R.H., Montgomery, D.C.: Responce Surface Methodology: Progress and Product in Optimization Using Designed Experiments. Wiley - Interscience, New York (1995)
Shyy, W., Papila, N., Vaidynathan, R., Tucker, K.: Global Design Optimization for Aerodynamics and Rocket Propulsion Components. Prog. Aerospace Sci. 37 (2001) 59-118
Ratle, A.: Optimal Sampling Strategies for Learning a Fitness Model. Proceed-ings of the 1999 Congress on Evolutionary Computation (CEC99), Washington DC, USA (1999)
Haykin, S.: Neural Networks, a Comprehensive Foundation. Second Edition, Prentice Hall (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Nikolos, I.K., Zografos, E.S., Brintaki, A.N. (2007). UAV Path Planning Using Evolutionary Algorithms. In: Chahl, J.S., Jain, L.C., Mizutani, A., Sato-Ilic, M. (eds) Innovations in Intelligent Machines - 1. Studies in Computational Intelligence, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72696-8_4
Download citation
DOI: https://doi.org/10.1007/978-3-540-72696-8_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72695-1
Online ISBN: 978-3-540-72696-8
eBook Packages: EngineeringEngineering (R0)