Improved GA based Multi-LAVs Aerial Delivery Areas-Choosing Method

摘要：

In this paper, a multi-LAVs aerial delivery areaschoosing method is brought forward, which aims at known targets which are located in a fixed area. This method takes the performance of LAV, especially minimum turning radius, into consideration, and incorporates AHP and Dubins path. Based on the discussion of general GA method, we design the IGA method to increase the convergence rate. By using this method, the LAVs can reach the target located at the longest distance within the minimum time. Simulation results show that the IGA method has a higher convergence rate than the general GA method, while the delivery areas can be chosen in an optimized way. The proposed method can be extended to the problem of multi-Dubins vehicles task assignment and path planning.

关键词： IGA Multi-LAVs AHP Dubins flying path

作者: Dalin Li Jie Li Zhenyu Guan Junbo Wang

作者单位: School of Mechatronical Engineering Beijing Institute of Technology,5 South Zhongguancun Street, Hai School of Mechatronical Engineering Beijing Institute of Technology,5 South Zhongguancun Street, Hai Unit 63961 PLA, Beijing 100012, P.R.China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)

会议地点: 香港

会议语种:英文

页码: 1498-1505

在线出版日期: 2011-12-27（万方平台首次上网日期，不代表论文的发表时间）