GA/DP Hybrid Solution for UAV Multi-Target Path Planning

摘要

Genetic Algorithm (GA) has made successful application in unmannedrnaerial vehicle (UAV) path planning. However, for multi-target problem,rnadditional function should be included to enhance UAV performance. Thisrnpaper introduces the Dynamic Programming (DP) for solving multiple targetrnpath planning into UAV system. The proposed hybrid solution integrates GArnwith DP for UAV to guarantee the safety requirement and feasibility for pathrnplanning. The Virtual Flight Map (VFM) is built for path planning algorithm.rnBetween two targets, GA finds the optimal path with suitable fitness function;rnwhile with the distance matrices between all pairs of multiple targets, DPrnexpands the two target path planning into multiple targets. The DP decides thernvisiting sequence of multiple targets and visits all targets just in once tour andrnfinally returns to the starting point in the shortest route. The proposedrnalgorithm is formulated and integrated for complete tests.