Evolutionary Trajectory Planner for Multiple UAVs in Realistic Scenarios

This paper presents a path planner for multiple unmanned aerial vehicles (UAVs) based on evolutionary algorithms (EAs) for realistic scenarios. The paths returned by the algorithm fulfill and optimize multiple criteria that 1) are calculated based on the properties of real UAVs, terrains, radars, and missiles and 2) are structured in different levels of priority according to the selected mission. The paths of all the UAVs are obtained with the multiple coordinated agents coevolution EA (MCACEA), which is a general framework that uses an EA per agent (i.e., UAV) that share their optimal solutions to coordinate the evolutions of the EAs populations using cooperation objectives. This planner works offline and online by means of recalculating parts of the original path to avoid unexpected risks while the UAV is flying. Its search space and computation time have been reduced using some special operators in the EAs. The successful results of the paths obtained in multiple scenarios, which are statistically analyzed in the paper, and tested against a simulator that incorporates complex models of the UAVs, radars, and missiles, make us believe that this planner could be used for real-flight missions.

[1]  Kalyanmoy Deb,et al.  Three-dimensional offline path planning for UAVs using multiobjective evolutionary algorithms , 2007, 2007 IEEE Congress on Evolutionary Computation.

[2]  Eva Besada Portas,et al.  Multiobjective path planner for UAVs based on genetic algorithms , 2008 .

[3]  Juris Vagners,et al.  PARALLEL EVOLUTIONARY ALGORITHMS FOR UAV PATH PLANNING , 2004 .

[4]  Y.V. Pehlivanoglu,et al.  Vibrational Genetic Algorithm Based Path Planner for Autonomous UAV in Spatial Data Based Environments , 2007, 2007 3rd International Conference on Recent Advances in Space Technologies.

[5]  H. B. Mann,et al.  On a Test of Whether one of Two Random Variables is Stochastically Larger than the Other , 1947 .

[6]  Peter J. Fleming,et al.  Multiobjective optimization and multiple constraint handling with evolutionary algorithms. I. A unified formulation , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[7]  Ivan Maza,et al.  A Two Step Velocity Planning Method for Real-Time Collision Avoidance of Multiple Aerial Robots in D , 2008 .

[8]  Lincheng Shen,et al.  A MPC and Genetic Algorithm Based Approach for Multiple UAVs Cooperative Search , 2005, CIS.

[9]  Tariq Samad,et al.  Network-Centric Systems for Military Operations in Urban Terrain: The Role of UAVs , 2007, Proceedings of the IEEE.

[10]  Ping Yan,et al.  Route Planning for Unmanned Air Vehicles with Multiple Missions Using an Evolutionary Algorithm , 2007, Third International Conference on Natural Computation (ICNC 2007).

[11]  David A. Van Veldhuizen,et al.  Evolutionary Computation and Convergence to a Pareto Front , 1998 .

[12]  Tim Hendtlass,et al.  Collective intelligence and bush fire spotting , 2008, GECCO '08.

[13]  Lorenz T. Biegler,et al.  Dynamic Optimization Strategies for Three-Dimensional Conflict Resolution of Multiple Aircraft , 2004 .

[14]  C.A. Coello Coello,et al.  MOPSO: a proposal for multiple objective particle swarm optimization , 2002, Proceedings of the 2002 Congress on Evolutionary Computation. CEC'02 (Cat. No.02TH8600).

[15]  Gonzalo Pajares,et al.  Using MILP for UAVs Trajectory Optimization under Radar Detection Risk , 2006, 2006 IEEE Conference on Emerging Technologies and Factory Automation.

[16]  Kalyanmoy Deb,et al.  A Fast Elitist Non-dominated Sorting Genetic Algorithm for Multi-objective Optimisation: NSGA-II , 2000, PPSN.

[17]  Robert J. Szczerba,et al.  Robust algorithm for real-time route planning , 2000, IEEE Trans. Aerosp. Electron. Syst..

[18]  Haluk Topcuoglu,et al.  3-D path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms , 2008, GECCO '08.

[19]  Gary B. Lamont,et al.  A genetic algorithm for unmanned aerial vehicle routing , 2005, GECCO '05.

[20]  John Saunders Bellingham,et al.  Coordination and Control of UAV Fleets using Mixed-Integer Linear Programming , 2002 .

[21]  Lothar Thiele,et al.  A Tutorial on the Performance Assessment of Stochastic Multiobjective Optimizers , 2006 .

[22]  Ioannis K. Nikolos,et al.  Path Planning for Cooperating Unmanned Vehicles over 3-D Terrain , 2009 .

[23]  Lincheng Shen,et al.  Genetic Algorithm Based Approach for Multi-UAV Cooperative Reconnaissance Mission Planning Problem , 2006, ISMIS.

[24]  F. Borrelli,et al.  MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles , 2006, 2006 American Control Conference.

[25]  Randal W. Beard,et al.  Coordination Variables, Coordination Functions, and Cooperative-Timing Missions , 2005 .

[26]  Eva Besada-Portas,et al.  MULTIOBJECTIVE CONTROL OF FLAPS AND T-FOIL IN HIGH-SPEED SHIPS , 2002 .

[27]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[28]  Y. Qu,et al.  Flight path planning of UAV based on heuristically search and genetic algorithms , 2005, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005..

[29]  K. Trovato.  A* planning in discrete configuration spaces of autonomous systems , 1996 .

[30]  Timothy W. McLain,et al.  Coordinated target assignment and intercept for unmanned air vehicles , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[31]  R. J. Szczerba,et al.  Threat netting for real-time, intelligent route planners , 1999, 1999 Information, Decision and Control. Data and Information Fusion Symposium, Signal Processing and Communications Symposium and Decision and Control Symposium. Proceedings (Cat. No.99EX251).

[32]  Ioannis K. Nikolos,et al.  Evolutionary Algorithm Based Path Planning for Multiple UAV Cooperation , 2007 .

[33]  Jonathan P. How,et al.  Aircraft trajectory planning with collision avoidance using mixed integer linear programming , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[34]  Yoshiaki Kuwata,et al.  Three Dimensional Receding Horizon Control for UAVs , 2004 .

[35]  Kalyanmoy Deb,et al.  A Comparative Analysis of Selection Schemes Used in Genetic Algorithms , 1990, FOGA.

[36]  Fuchun Sun,et al.  Evolutionary route planner for unmanned air vehicles , 2005, IEEE Transactions on Robotics.

[37]  T. Shima,et al.  UAV cooperative multiple task assignments using genetic algorithms , 2005, Proceedings of the 2005, American Control Conference, 2005..

[38]  Tal Shima,et al.  Assignment of Cooperating UAVs to Simultaneous Tasks using Genetic Algorithms , 2005 .

[39]  Semyon M. Meerkov,et al.  Optimal Path Planning for Unmanned Combat Aerial Vehicles to Defeat Radar Tracking , 2006 .

[40]  José Antonio López Orozco,et al.  Evolutionary path planner for UAVs in realistic environments , 2008, GECCO '08.

[41]  Tal Shima,et al.  Optimal scheduling for refueling multiple autonomous aerial vehicles , 2006, IEEE Transactions on Robotics.

[42]  J. A. Goldman,et al.  Path planning problems and solutions , 1994, Proceedings of National Aerospace and Electronics Conference (NAECON'94).

[43]  Marjorie Darrah,et al.  Increased UAV Task Assignment Performance Through Parallelized Genetic Algorithms (Preprint) , 2006 .

[44]  Kimon P. Valavanis,et al.  Evolutionary algorithm based offline/online path planner for UAV navigation , 2003, IEEE Trans. Syst. Man Cybern. Part B.

[45]  Olivier Lavialle,et al.  Consideration of obstacle danger level in path planning using A* and Fast-Marching optimisation: comparative study , 2003, Signal Process..

[46]  Goldberg,et al.  Genetic algorithms , 1993, Robust Control Systems with Genetic Algorithms.

[47]  Gerald Farin,et al.  Curves and surfaces for computer aided geometric design , 1990 .