We employ a genetic algorithm approach to solving the persistent visitation problem for UAVs. The objective is to minimize the maximum weighted revisit time over all the sites in a cyclicly repeating walk. In general, the optimal length of the walk is not known, so this method (like the exact methods) assume some fixed length. Exact methods for solving the problem have recently been put forth, however, in the absence of additional heuristics, the exact method scales poorly for problems with more than 10 sites or so. By using a genetic algorithm, performance and computation time can be traded off depending on the application. The main contributions are a novel chromosome encoding scheme and genetic operators for cyclic walks which may visit sites more than once. Examples show that the performance is comparable to exact methods with better scalability.
- Dynamic Systems and Control Division
Genetic Algorithm Approach for UAV Persistent Visitation Problem
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Von Moll, AL, Casbeer, DW, Kalyanam, K, & Manyam, SG. "Genetic Algorithm Approach for UAV Persistent Visitation Problem." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T36A001. ASME. https://doi.org/10.1115/DSCC2018-8950
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