Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2013.6564991
Title: Cooperative task planning for multiple autonomous UAVs with graph representation and genetic algorithm
Authors: Geng, L.
Zhang, Y.F. 
Wang, J.J.
Fuh, J.Y.H. 
Teo, S.H.
Issue Date: 2013
Source: Geng, L.,Zhang, Y.F.,Wang, J.J.,Fuh, J.Y.H.,Teo, S.H. (2013). Cooperative task planning for multiple autonomous UAVs with graph representation and genetic algorithm. IEEE International Conference on Control and Automation, ICCA : 394-399. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2013.6564991
Abstract: This paper addresses the mission planning issues for guiding a group of UAVs to carry out a series of tasks, namely classification, attack, and verification, against multiple targets. The flying space is constrained with the presence of flight prohibit zones (FPZs) and enemy radar sites. The solution space for task assignment and sequencing is modeled with a graph representation. With a path formation based on Dubins vehicle paths, a genetic algorithm (GA) has been developed for finding the optimal solution from the graph to achieve the following goals: (1) completion of the three tasks on each target, (2) avoidance of FPZs, (3) low level of exposure to enemy radar detection, and (4) short overall flying path length. A case study is presented to demonstrate the effectiveness of the proposed methods. © 2013 IEEE.
Source Title: IEEE International Conference on Control and Automation, ICCA
URI: http://scholarbank.nus.edu.sg/handle/10635/73286
ISBN: 9781467347075
ISSN: 19483449
DOI: 10.1109/ICCA.2013.6564991
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