Hybrid Solution for UAV Multiple Target Path planning using Genetic Algorithm with Dynamic Programming

  • 許 育銘

Student thesis: Master's Thesis

Abstract

The major objective of this thesis is to present a hybrid method by integrating Genetic Algorithm with Dynamic Programming for solving multiple target path planning in implementation into UAV system In order to guarantee the safety requirement and feasibility for path planning the flight path planning system (FPPS) necessarily consider the path security UAV’s capability and so on The Virtual Flight Map is built at first and the path planning would program in the map by algorithms Between two target locations Genetic Algorithm finds the optimal path with suitable fitness function Then with the distances matrix between every pair of multiple targets Dynamic Programming (DP) expands the two targets path planning to multiple targets The DP decide what is the visiting sequence of multiple targets which visits all targets just once and returns to the starting location It must be the shortest distance of tour sequence Finally UAV system is sat up and performs flight path tracking to verify the flight path planning system
Date of Award2015 Aug 17
Original languageEnglish
SupervisorChin-E. Lin (Supervisor)

Cite this

Hybrid Solution for UAV Multiple Target Path planning using Genetic Algorithm with Dynamic Programming
育銘, 許. (Author). 2015 Aug 17

Student thesis: Master's Thesis