Ant colony optimization for multi-UAV minimum time search in uncertain domains
This paper presents a new approach based on ant colony optimization (ACO) to determine the trajectories of a fleet of unmanned air vehicles (UAVs) looking for a lost target in the minimum possible time. ACO is especially suitable for the complexity and probabilistic nature of the minimum time search...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2017 |
| Country: | España |
| Institution: | Universidad Complutense de Madrid (UCM) |
| Repository: | Docta Complutense |
| Language: | English |
| OAI Identifier: | oai:docta.ucm.es:20.500.14352/94255 |
| Online Access: | https://hdl.handle.net/20.500.14352/94255 |
| Access Level: | Open access |
| Keyword: | 007.52 Ant colony optimization Probabilistic path planning UAVs Minimum time search Robótica 3311.01 Tecnología de la Automatización |
| Summary: | This paper presents a new approach based on ant colony optimization (ACO) to determine the trajectories of a fleet of unmanned air vehicles (UAVs) looking for a lost target in the minimum possible time. ACO is especially suitable for the complexity and probabilistic nature of the minimum time search (MTS) problem, where a balance between the computational requirements and the quality of solutions is needed. The presented approach includes a new MTS heuristic that exploits the probability and spatial properties of the problem, allowing our ant based algorithm to quickly obtain high-quality high-level straight segmented UAV trajectories. The potential of the algorithm is tested for different ACO parameterizations, over several search scenarios with different characteristics such as number of UAVs, or target dynamicsand location distributions. The statistical comparison against other techniques previously used for MTS( ad hoc heuristics, cross entropy optimization, bayesian optimization algorithm and genetic algorithms) shows that the new approach outperforms the others. (C) 2017 Elsevier B.V. All rights reserved. |
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