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Communication Dans Un Congrès Année : 2022

Genetic algorithm for path planning of UAVs as a maze-solving problem

Résumé

This research work addresses the problem of path planning for unmanned aerial vehicles (UAVs) in complex environments such as a maze. A genetic algorithm (GA) with variable chromosomes and gene change conditions is designed when the decision point criteria and a collision with a wall are presented; without considering large chromosomes. Our proposed GA obtains the sequence of minimum movements required to solve the maze. Then, the trajectories are generated by high-order polynomials. Finally, numerical simulations and real-time tests are carried out to validate the proposed algorithm.

Domaines

Automatique
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Dates et versions

hal-03844521 , version 1 (21-11-2022)

Identifiants

Citer

M A Gutierrez-Martinez, L E Cabriales-Ramirez, E U Rojo-Rodriguez, E J Ollervides-Vazquez, Pedro Castillo Garcia, et al.. Genetic algorithm for path planning of UAVs as a maze-solving problem. International Conference on Unmanned Aircraft Systems (ICUAS 2022), Jun 2022, Dubrovnik, Croatia. pp.881-890, ⟨10.1109/ICUAS54217.2022.9836048⟩. ⟨hal-03844521⟩
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