Genetic Algorithm Applied in UAV's Path Planning

Autor(es)

Souza, Gustavo de Moura ; Motta Toledo, Claudio Fabiano ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2020 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC); v. N/A, p. 8-pg., 2020-01-01.

Resumo

The present paper introduces a hybrid genetic algorithm for path planning problem with obstacle avoidance. The genetic algorithm is combined with Ray Casting (RC) algorithm, where RC is responsible to avoid obstacles and to find safe regions for emergency landing. Thus, the path planning system must deal with a non-convex environment when planning and re-planning trajectories. The system must also work embedded on the UAV running under a Raspberry Pi board. The hybrid method is evaluated over 50 benchmark maps from literature with satisfactory results reported. (AU)

• Processo FAPESP: 13/07375-0 - CeMEAI - Centro de Ciências Matemáticas Aplicadas à Indústria
• Beneficiário: Francisco Louzada Neto
• Modalidade de apoio: Auxílio à Pesquisa - Centros de Pesquisa, Inovação e Difusão - CEPIDs