A MPC and genetic algorithm based approach for multiple UAVs cooperative search

Authors:
Jing Tian;Yanxing Zheng;Huayong Zhu;Lincheng Shen
Affiliations:
School of Mechanical Engineering and Automation, National University of Defense Technology, China;School of Computer Science, National University of Defense Technology;School of Mechanical Engineering and Automation, National University of Defense Technology, China;School of Mechanical Engineering and Automation, National University of Defense Technology, China
Venue:
CIS'05 Proceedings of the 2005 international conference on Computational Intelligence and Security - Volume Part I
Year:
2005

Citing 1
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Abstract

This paper focuses on the problem of cooperative search using a team of Unmanned Aerial vehicles (UAVs). The objective is to visit as many unknown area as possible, while avoiding collision. We present an approach which combines model predictive control(MPC) theory with genetic algorithm(GA) to solve this problem. First, the team of UAVs is modelled as a controlled system, and its next state is predicated by MPC theory. According to the predicted state, we then establish an optimization problem. By use of GA, we get the solution of the optimization problem and take it as the input of the controlled system. Simulation results demonstrate the feasibility of our algorithm.