EVOLUTIONARY PATH PLANNING FOR UNMANNED AERIAL VEHICLES COOPERATION

Ioannis K. Nikolos, Nikos Tsourveloudis

Abstract

We suggest an evolutionary based off-line/on-line path planner for cooperating Unmanned Aerial Vehicles (UAVs) that takes into account the environment characteristics and the flight envelope and mission constraints of the cooperating UAVs. The scenario under consideration is the following: a number of UAVs are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories that ensure a collision free operation with respect to mission constraints. The path planner produces curved routes that are represented by 3-D B-Spline curves. Two types of planner are discussed: The off-line planner generates collision free paths in environments with known characteristics and flight restrictions. The on-line planner, which is based on the off-line one, generates collision free paths in unknown static environments, by using acquired information from the UAV’s on-board sensors. This information is exchanged between the cooperating UAVs in order to maximize the knowledge of the environment. Both off-line and on-line path planning problems are formulated as optimization problems, with a Differential Evolution algorithm to serve as the optimizer.

References

  1. Gilmore, J.F., 1991. Autonomous vehicle planning analysis methodology. In Proceedings of the Association of Unmanned Vehicles Systems Conference. Washington, DC, 503-509.
  2. Zheng, C., Li, L., Xu, F., Sun, F., Ding, M., 2005. Evolutionary Route Planner for Unmanned Air Vehicles. IEEE Transactions on Robotics, 21, 609- 620.
  3. Uny Cao, Y., Fukunaga, A.S., Kahng, A.B., 1997. Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots, 4, 7-27.
  4. Mettler, B., Schouwenaars, T., How, J., Paunicka, J., and Feron E., 2003. Autonomous UAV guidance build-up: Flight-test Demonstration and evaluation plan. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA-2003-5744.
  5. Beard, R.W., McLain, T.W., Goodrich, M.A., Anderson, E.P., 2002. Coordinated target assignment and intercept for unmanned air vehicles. IEEE Transactions on Robotics and Automation, 18, 911- 922.
  6. Richards, A., Bellingham, J., Tillerson, M., and How., J., 2002. Coordination and control of UAVs. In Proceedings of the AIAA Guidance, Navigation and Control Conference, Monterey, CA.
  7. Schouwenaars, T., How, J., and Feron, E., 2004. Decentralized Cooperative Trajectory Planning of multiple aircraft with hard safety guarantees. In Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA-2004-5141.
  8. Flint, M., Polycarpou, M., and Fernandez-Gaucherand, E., 2002. Cooperative Control for Multiple Autonomous UAV's Searching for Targets. In Proceedings of the 41st IEEE Conference on Decision and Control.
  9. Gomez Ortega, J., and Camacho, E.F., 1996. Mobile Robot navigation in a partially structured static environment, using neural predictive control. Control Eng. Practice, 4, 1669-1679.
  10. Kwon, Y.D., and Lee, J.S., 2000. On-line evolutionary optimization of fuzzy control system based on decentralized population. Intelligent Automation and Soft Computing, 6, 135-146.
  11. Nikolos, I.K., Valavanis, K.P., Tsourveloudis, N.C., Kostaras, A., 2003. Evolutionary Algorithm based offline / online path planner for UAV navigation. IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, 33, 898-912.
  12. Michalewicz, Z., 1999. Genetic Algorithms + Data Structures = Evolution Programs. Springer Publications.
  13. Smierzchalski, R., 1999. Evolutionary trajectory planning of ships in navigation traffic areas. Journal of Marine Science and Technology, 4, 1-6.
  14. Smierzchalski, R., and Michalewicz Z., 2000. Modeling of ship trajectory in collision situations by an evolutionary algorithm. IEEE Transactions on Evolutionary Computation, 4, 227-241.
  15. Sugihara, K., and Yuh, J., 1997. GA-based motion planning for underwater robotic vehicles. UUST-10, Durham, NH.
  16. Moitra, A., Mattheyses, R.M., Hoebel, L.J., Szczerba, R.J., Yamrom, B., 2003. Multivehicle reconnaissance route and sensor planning. IEEE Transactions on Aerospace and Electronic Systems, 37, 799-812.
  17. Martinez-Alfaro H., and Gomez-Garcia, S. 1988. Mobile robot path planning and tracking using simulated annealing and fuzzy logic control. Expert Systems with Applications, 15, 421-429.
  18. Nikolos, I.K., Tsourveloudis, N., and Valavanis, K.P., 2001. Evolutionary Algorithm Based 3-D Path Planner for UAV Navigation. In Proceedings of the 9th Mediterranean Conference on Control and Automation, Dubrovnik, Croatia.
  19. Farin, G., 1988. Curves and Surfaces for Computer Aided Geometric Design, A Practical Guide. Academic Press.
  20. Price, K.V., Storn, R.M., Lampinen, J.A., 2005. Differential Evolution, a Practical Approach to Global Optimization. Springer-Verlag, Berlin Heidelberg.
  21. Marse, K. and Roberts, S.D., 1983. Implementing a portable FORTRAN uniform (0,1) generator. Simulation, 41-135.
Download


Paper Citation


in Harvard Style

K. Nikolos I. and Tsourveloudis N. (2007). EVOLUTIONARY PATH PLANNING FOR UNMANNED AERIAL VEHICLES COOPERATION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 67-75. DOI: 10.5220/0001642200670075


in Bibtex Style

@conference{icinco07,
author={Ioannis K. Nikolos and Nikos Tsourveloudis},
title={EVOLUTIONARY PATH PLANNING FOR UNMANNED AERIAL VEHICLES COOPERATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={67-75},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001642200670075},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - EVOLUTIONARY PATH PLANNING FOR UNMANNED AERIAL VEHICLES COOPERATION
SN - 978-972-8865-83-2
AU - K. Nikolos I.
AU - Tsourveloudis N.
PY - 2007
SP - 67
EP - 75
DO - 10.5220/0001642200670075