Path Planning of Unmanned Aerial Vehicles using B-Splines and Particle Swarm Optimization
Jung Leng Foo, Jared Scott Knutzon, Vijay Kalivarapu, James H. Oliver, Eliot H. Winer · Journal of Aerospace Computing Information and Communication · 2009
Military operations are turning to more complex and advanced automation technologies forminimumriskandmaximumefficiency.Acriticalpiecetothisstrategyisunmannedaerial vehicles. Unmanned aerial vehicles require the intelligence to safely maneuver along a path to an intended target and avoiding obstacles such as other aircrafts or enemy threats. This paper presents a unique three-dimensional path planning problem formulation and solution approach using particle swarm optimization. The problem formulation was designed with three objectives: 1) minimize risk owing to enemy threats, 2) minimize fuel consumption incurred by deviating from the original path, and 3) fly over defined reconnaissance targets. The initial design point is defined as the original path of the unmanned aerial vehicles. Using particle swarm optimization, alternate paths are generated using B-spline curves, optimized based on the three defined objectives. The resulting paths can be optimized with a preference toward maximum safety, minimum fuel consumption, or target reconnaissance. This method has been implemented in a virtual environment where the generated alternate paths can be visualized interactively to better facilitate the decision-making process. The problem formulation and solution implementation is described along with the results from several simulated scenarios demonstrating the effectiveness of the method.