UAV bezier curve maneuver planning using genetic algorithm

Authors:
Affiani Machmudah;Setyamartana Parman;Azman Zainuddin
Affiliations:
Universiti Teknologi Petronas, Tronoh, Malaysia;Universiti Teknologi Petronas, Tronoh, Malaysia;Universiti Teknologi Petronas, Tronoh, Malaysia
Venue:
Proceedings of the 12th annual conference companion on Genetic and evolutionary computation
Year:
2010

Citing 3
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Abstract

This paper presents Unmanned Aerial Vehicle (UAV) path planning using a Genetic Algorithm (GA) in a static environment at constant altitude. A cubic Bezier curve is used as path reference. The GA will find the proper control points position such that the minimum-length feasible path will be achieved. The objective optimization is the minimum path length with constrains. There are two constraints that must be satisfied, a free collision and a minimum turning radius. The Fuzzy rules are applied in fitness function to satisfy these constraints. It needs to detect the collision after the curvature is satisfied. The results show that the proposed algorithm succeeded to find the goal path.