Gutierrez Martinez, Manuel Alejandro (CIIIA-FIME-UANL), Cabriales Ramirez, Luis Enrique (CIIIA-FIME-UANL), Rojo Rodriguez, Edgar Ulises (CIIIA-FIME-UANL), Ollervides Vazquez, Edmundo Javier (CIIIA-FIME-UANL; TecNM-Instituto Tecnologico de la Laguna), Castillo, Pedro (Unviersité de Technologie de Compiègne), Garcia Salazar, Octavio (CIIIA-FIME-UANL)

Genetic Algorithm for Path Planning of UAVs As a Maze-Solving Problem

Scheduled for presentation during the Regular Session "Path Planning III" (ThB4), Thursday, June 23, 2022, 15:50−16:10, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This research work addresses the problem of path planning for unmanned aerial vehicles (UAVs) in complex environments such as a maze. A genetic algorithm (GA) with variable chromosomes and gene change conditions is designed when the decision point criteria and a collision with a wall are presented; without considering large chromosomes. Our proposed GA obtains the sequence of minimum movements required to solve the maze. Then, the trajectories are generated by high-order polynomials. Finally, numerical simulations and real-time tests are carried out to validate the proposed algorithm.