Title of article
Integrated taskassignmentandpathoptimizationforcooperating uninhabitedaerialvehiclesusinggeneticalgorithms
Author/Authors
Eugene Edison، نويسنده , , TalShima ، نويسنده ,
Issue Information
ماهنامه با شماره پیاپی سال 2011
Pages
17
From page
340
To page
356
Abstract
The problemofintegratingtaskassignmentandplanningpathsforagroupofcooperatinguninhabited
aerial vehicles,servicingmultipletargets,isaddressed.Intheproblemofinteresttheuninhabitedaerial
vehiclesneedtoperformmultipleconsecutivetaskscooperativelyoneachgroundtarget.ADubinscar
model isusedformotionplanning,takingintoaccounteachvehicle’sspecificconstraintofminimum
turn radius.Byusingafinitesettodefinethevisitationangleofavehicleoveratargetweposethe
integratedproblemoftaskassignmentandpathoptimizationintheformofagraph.Thisnewapproach
results insuboptimaltrajectoryassignments.Refiningthevisitationanglediscretizationallowsforan
improvedsolution.Duetothecomputationalcomplexityoftheresultingcombinatorialoptimization
problem,weproposegeneticalgorithmsforthestochasticsearchofthespaceofsolutions.We
distinguishbetweentwocasesofvehiclegroupcomposition:homogeneous,whereallvehiclesare
identical;andheterogeneous,wherethevehiclesmayhavedifferentoperationalcapabilitiesand
kinematicconstraints.Theperformanceofthegeneticalgorithmsisdemonstratedthroughsampleruns
and aMonteCarlosimulationstudy.Resultsshowthatthealgorithmsquicklyprovidegoodfeasible
solutions,andfindtheoptimalsolutionforsmallsizedproblems.
Keywords
Task assignment , Combinatorial optimization , Genetic algorithms , Dubins’ car , Unmanned aerial vehicles
Journal title
Computers and Operations Research
Serial Year
2011
Journal title
Computers and Operations Research
Record number
927860
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