Path Planning of UAVs Based on Improved Chaotic Genetic Algorithm
Yingguang Hao · Electronics Optics & Control · 2012
How to plan the flight path quickly which fulfills some constraints is critical for autonomous planning of Unmanned Aerial Vehicles(UAV).This paper proposes a path planning algorithm based on modified chaotic genetic algorithm.First,the Voronoi diagram is utilized to generate the initial paths.Then the optimal path is searched by using improved chaotic genetic algorithm.The chaotic genetic algorithm is improved to make it more intelligent.The method uses a power function as carrier instead of the traditional linear carrier.In order to improve the uniformity of the distribution of chaotic sequence,the concept of random exponent in determinate range is proposed and the concept is applied in the chaos genetic algorithm.Simulation results show that the method can improve the accuracy of the algorithm.