Using genetic algorithms to evolve the control rules of a swarm of UAVs

Authors:
Jaime Soto;Kuo-Chi Lin
Affiliations:
Electrical and Computer Engineering, University of Central Florida, Orlando, FL;Mechanical, Materials, and Aerospace Engineering, University of Central Florida, Orlando, FL
Venue:
CTS'05 Proceedings of the 2005 international conference on Collaborative technologies and systems
Year:
2005

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Abstract

Due to the large number of interactions that the agents in a swarm of UAVs have with each other as well as with their environment, it is necessary to obtain a viable procedure that yields a reasonable group behavior from these local interactions. This paper proposes a hierarchical behavior-based model in which several parameters are adjusted with a genetic algorithm (GA). The presented model implements three explicit layers of behaviors (basic, group and mission) in a simulation in which the agents seek to survey a rectangular target area while avoiding a circular obstacle.