Cooperative route planning algorithm for unmanned air vehicles based on evolutionary computation
Jiangjiang Yan, Mingyue Ding, Chengping Zhou, Chao Cai · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2007
This paper presents a method that utilizes an evolutionary computation to design a hierarchical and off-line route planner for multiple Unmanned Aerial Vehicles (UAVs) coordinated navigation in known static environments. Considering the problem of having a number of UAVs starting from different known initial locations, our approach can produce 3-D trajectories composed by a set of successive navigation points with a desirable velocity distribution along each trajectory, aiming at reaching a predetermined target location, while ensuring collision avoidance either with the environmental obstacles or with the UAVs and satisfying specific route and coordination constraints and objectives. The experiment results demonstrate the feasibility of the method.