ADA508714_无人机群任务规划制定采用进化

UAV Swarm Mission Planning Development Using Evolutionary Algorithms and Parallel Simulation-Part II SCP-195 Gary B.Lamont Department of Electrical and Computer Engineering Graduate School of Engineering and Management Air Force Institute of Technology Wright-Patterson AFB,Dayton,OH 45433 Gary.Lamontafit.edu Abstract The purpose of this paper is to discuss the design and implementation of comprehensive mission planning systems for swarms of autonomous aerial vehicles(UAV).Such a system could integrate several problem domains including path planning,vehicle routing,and swarm behavior as based upon a hierarchical architecture.The example developed system consists of a parallel multi-objective evolutionary algorithm-based terrain-following parallel path planner,a multi-objective evolutionary algorithm(MOEA)for the UAV swarm router,and a parallel simulation.Generic objectives include minimizing cost,time,and risk generally associated with a three dimensional vehicle routing problem(VRP).The concept of the Swarm Routing Problem(SRP)as a new combinatorics problem for use in modeling UAV swarm routing is presented as a variant of the Vehicle Routing Problem with Time Windows(VRPTW).Variou