IE interfaces (산업공학)

Korean Institute of Industrial Engineers (대한산업공학회)
권호 표지
DOI QR코드

DOI QR Code

Mission Path Planning to Maximize Survivability for Multiple Unmanned Aerial Vehicles based on 3-dimensional Grid Map

3차원 격자지도 기반 생존성 극대화를 위한 다수 무인 항공기 임무경로 계획

  • Kim, Ki-Tae (Naval War College, Joint Forces Military University) ;
  • Jeon, Geon-Wook (Department of Operations Research, Korea National Defense University)
  • 김기태 (합동군사대학교 해군대학) ;
  • 전건욱 (국방대학교 운영분석학과)
  • Received : 2011.09.02
  • Accepted : 2012.04.06
  • Published : 2012.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for humans. UAVs are currently employed in many military missions and a number of civilian applications. For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a $A^*PS$_PGA (A-star with Post Smoothing_Parallel Genetic Algorithm) for Multiple UAVs's path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and MTSP (Multiple Traveling Salesman Problem). After transforming MRPP into Shortest Path Problem (SPP),$A^*PS$_PGA applies a path planning for multiple UAVs.

Keywords

References

  1. Bortoff, S. A. (2000), Path Planning for UAVs, Proceedings of the American Control Conference.
  2. Botea, A., Muller, M., and Schaeffer, J. (2004), Near Optimal Hierarchical Path- Finding, Journal of Game Development, 1(1), 7-28.
  3. Canny, J. and Reif, J. (1987), New Lower Bound Techniques for Robot Motion Planning Problems, Proceedings of the Annual Symposium on Foundations of Computer Science.
  4. Cunningham, C. T. and Roberts, R. S. (2001), An Adaptive Path Planning Algorithm for Cooperating Unmanned Air Vehicles, Proceedings of the International Conference on Robotics and Automation.
  5. Gao, X., Fu, X., and Chen, D. (2005), A Genetic-Algorithm-Based Approach to UAV Path Planning Problem, Proceedings of the WSEAS International Conference on Simulation, Modeling, and Optimization.
  6. Gonzalez, L. F., Lee, D. S., Walker, R., and Periaux, J. (2009), Optimal Mission Path Planning (MPP) for an Air Sampling Unmanned Aerial System, Proceedings of the Austral-Asian Conference on Robotics and Automation.
  7. Grefenstette, J. J. (1981), Parallel Adaptive Algorithm for Function Optimization, Technical Report NO.CS-81-19, Vanderbit University, Computer Science Department, Nashville.
  8. Harder, R. W., Hill, R. R., and Moore, J. T. (2004), A Java Universal Vehicle Router for Routing Unmanned Aerial Vehicles, International Transactions in Operational Research, 11(3), 259-275. https://doi.org/10.1111/j.1475-3995.2004.00457.x
  9. Hart, P. E., Nilsson, N. J., and Raphael, B. (1968), A Formal Basis for the Heuristic Determination of Minimum Cost Paths, IEEE Transactions of Systems Science and Cybernetics, 4(2), 100-107. https://doi.org/10.1109/TSSC.1968.300136
  10. Jia, D. and Vagners, J. (2004), Parallel Evolutionary Algorithms for UAV Path Planning, Proceedings of the AIAA Intelligent Systems Technical Conference.
  11. Jun, M. S. and D'Andrea, R. (2002), Path Planning for Unmanned Aerial Vehicles in Uncertain and Adversarial Environments, Cooperative Control : Models, Applications and Algorithms.
  12. Kim, K. T. and Jeon, G. W. (2011), A Path Planning to Maximize Survivability for Unmanned Aerial Vehicle based on 3-dimensional Environment, IE Interfaces, 24(4), 304-313. https://doi.org/10.7232/IEIF.2011.24.4.304
  13. Kim, S. H. and Yeom, G. (1983), Path Optimization for Aircraft, Journal of the Korean Operations Research, 8(1), 11-18.
  14. Miller, C. E., Tucker, A. W., and Zemlin R. A. (1960), Integer programming formulation of traveling salesman problems, Journal of Association for Computing Machinery, 7(4), 326-329. https://doi.org/10.1145/321043.321046
  15. Mitsutake, K. and Higashino, S.(2008), An $A^{\ast}$-EC Hybrid Path Planning Method for Waypoint Traveling Problem Considering Terrain, Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit.
  16. Mittal, S. and Deb, K. (2007), Three-Dimensional Offline Path Planning for UAVs using Multiobjective Evolutionary Algorithms, Proceedings of the IEEE Congress on Evolutionary Computation.
  17. Nikolos, I. K. and Brintaki, A. N. (2005), Coordinated UAV Path Planning using Differential Evolution, Proceedings of the International Intelligent Control.
  18. Nikolos, I. K., Valavanis, K. P., Tsourveloudis, N. C., and Kostaras, A. N. (2003), Evolutionary Algorithm Based Offline/Online Path Planner for UAV Navigation, IEEE Transactions on System, Man, and Cybernetics-Part B : Cybernetics, 33(6), 898-912. https://doi.org/10.1109/TSMCB.2002.804370
  19. Obermeyer, K. J. (2009), Path Planning for a UAV Performing Reconnaissance of Static Ground Targets in Terrain, American Institute of Aeronautics and Astronautics.
  20. Peng, X. and Gao, X. (2008), A Multi-Objective Optimal Approach for UAV Routing in Reconnaissance Mission with Stochastic Observation Time, Proceedings of the International Symposium Foundations of Intelligent Systems.
  21. Rathinam, S. and Sengupta, R. (2006), Lower and Upper Bounds for a Multiple Depot UAV Routing Problem, Proceedings of the IEEE Conference on Decision and Control.
  22. Russell, M. A. and Lamont, G. B. (2005), A Genetic Algorithm for Unmanned Aerial Vehicle Routing, Proceedings of the Genetic and Evolutionary Computation Conference.
  23. Sanders, G. and Ray, T. (2007), Optimal Offline Path Planning of a Fixed Wing Unmanned Aerial Vehicle(UAV) using an Evolutionary Algorithm, Proceedings of the IEEE Congress on Evolutionary Computation.
  24. Sathyaraj, B. M., Jain, L. C., Finn, A., and Drake, S. (2008), Multiple UAVs Path Planning Algorithms : A Comparative Study, Journal of Fuzzy Optimization and Decision Making, 7(3), 257-267. https://doi.org/10.1007/s10700-008-9035-0
  25. Solomon, M. M. (1987), Algorithms for the Vehicle Routing and Scheduling Problem with Time Window Constraints, Operations Research, 35(2), 254-265. https://doi.org/10.1287/opre.35.2.254
  26. Sujit, P. B. and Beard, R. (2009), Multiple UAV Path Planning using Anytime Algorithms, Proceedings of the American Control Conference.
  27. Takebayashi, T., Ishii, M., and Higashino, S. (2008), Real-time Path Planning Method for Multiple UASs, Proceedings of the KSAS-JSASS Joint International Symposium on Aerospace Engineering.
  28. The Office of the Secretary of Defense (2007), Unmanned Aircraft System Roadmap 2007-2032, U. S. DoD.
  29. Wagner, D. H., Mylander, W. C., and Sanders, T. J. (1999), Naval Operations Analysis, Naval Institute Press, Annapolis, Maryland.
  30. Weiss, B., Naderhirn, M., and del Re, L. (2006), Global Real-Time Path Planning for UAVs in Uncertain Environment, Proceedings of Computer Aided Control System Design.