Multi-Objective UAV routing

摘要

The purpose of the study, presented in this paper, has been to apply a multi-objective graph-based method for plan routes of a simulated UAV taking into account scenarios with danger zones or prohibited areas, characteristic of civil airspace, as well as areas with time and speed restrictions and some negotiable “safe corridors”. In particular, the method that has been used is New Approach to Multi-Objective A* (NAMOA*), which labelled the paths of the scenarios' graphs with cost vectors where each component was a different objective to be minimised, such as distance travelled, angle change, time taken, fuel consumption and deviation from the straight path. The results had shown that NAMOA* properly found a set of non-dominated paths equal to an estimated Pareto-optimal front.