A method for path planning of an UAV while avoiding obstacles using Evolutionary Computation and rule-based hybrid method is proposed, and its effectiveness is demonstrated successfully by flights using a small UAV. Evolutionary Computation is used for the optimization of the traveling order of the waypoints which are specified for a certain mission, and for the optimization of the number and positions of the additional waypoints inserted in order to avoid obstacles. The additional waypoints are inserted following the predetermined rule so that the efficiency of the obstacle avoidance improves.
All Science Journal Classification (ASJC) codes
- コンピュータ サイエンスの応用