Evolutionary Algorithm Based Path Planning for Multiple UAV Cooperation

Path planning refers to the generation of a space path between an initial location and the desired destination, with an optimal or near-optimal performance under specific constraints [1]. A path planning algorithm may produce different candidate plans, which should be compared and evaluated based on specific criteria. Such criteria are generally related to feasibility and optimality of the path generation. The first criterion relates to derivation of a plan that moves safely a UAV (an object) to its final state, without taking into account the quality of the produced plan. The second criterion refers to derivation of optimal, yet feasible, paths, with optimality defined according to the problem under consideration [2]. However, searching for optimal paths is not a trivial task; in most cases this requires excessive computational time; in some cases even computation of just one feasible path is a rather involved task. Therefore, the search focuses mostly on suboptimal or just feasible solutions.

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