Hyper-Heuristics for Online UAV Path Planning Under Imperfect Information


Akar E., TOPCUOĞLU H. R. , Ermis M.

17th European Conference on Applications of Evolutionary Computation (EvpApplications), Granada, Nikaragua, 23 - 25 Nisan 2014, cilt.8602, ss.741-752 identifier identifier

  • Cilt numarası: 8602
  • Doi Numarası: 10.1007/978-3-662-45523-4_60
  • Basıldığı Şehir: Granada
  • Basıldığı Ülke: Nikaragua
  • Sayfa Sayıları: ss.741-752

Özet

Hyper-heuristic techniques are problem independent meta-heuristics that automate the process of selecting a set of given low-level heuristics. Online path planning in an uncertain or unknown environment is one of the challenging problems for autonomous unmanned aerial vehicles (UAVs). This paper presents a hyper-heuristic approach to develop a 3-D online path planning for unmanned aerial vehicle (UAV) navigation under sensing uncertainty. The information regarding the state of a UAV is obtained from on-board sensors during the execution of a navigation plan. The trajectory of a UAV at each region is represented with B-spline curves, which is constructed by a set of dynamic control points. Experimental study performed on various terrains with different characteristics validates the usage of hyper-heuristics for online path planning. Our approach outperforms related work with respect to the quality of solutions and the number of feasible solutions produced.