障害物を迂回するか飛び越えるか？新しい多目的UAV経路計画問題
Bypassing or flying above the obstacles? A novel multi-objective UAV path planning problem
障害物の迂回と上空飛行の両方を考慮し、経路長・エネルギー消費・最大リスクを同時最小化する多目的整数計画モデルを提案し、進化的アルゴリズムで非劣解集合を求めた。
著者: Mahmoud Golabi, Soheila Ghambari, Julien Lepagnot, Laetitia Jourdan, Mathieu Brevilliers, Lhassane Idoumghar
分類: eess.SP, cs.AI, cs.RO
原文アブストラクト
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path length, energy consumption, and maximum path risk simultaneously. The static environment is represented as 3D grid cells. Due to the NP-hardness nature of the problem, several state-of-theart evolutionary multi-objective optimization (EMO) algorithms with customized crossover and mutation operators are applied to find a set of non-dominated solutions. The results show the effectiveness of applied algorithms in solving several generated test cases.