Title :
Path planning based on immune genetic algorithm for UAV
Author :
Cheng, Ze ; Sun, Ying ; Liu, Yanli
Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin, China
Abstract :
A novel approach of path planning for unmanned aerial vehicle (UAV) is presented based on immune genetic algorithm (IGA) with elitist. IGA introduces immune operator and concentration mechanism which improve the inherent defects of premature and slow convergence speed existing in genetic algorithm (GA). Simulation results show that an ideal flight path can be more quickly searched using IGA, under conditions of meeting the requirements for UAV and the given constraints. Correctness and effectiveness of IGA are verified.
Keywords :
aircraft control; genetic algorithms; mobile robots; path planning; remotely operated vehicles; IGA; UAV; concentration mechanism; immune genetic algorithm; immune operator; path planning; unmanned aerial vehicle; Convergence; Encoding; Euclidean distance; Genetic algorithms; Genetics; Immune system; Path planning; IGA; UAV; path planning;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5777407
