A UAV PATH PLANNING WITH PARALLEL ACO ALGORITHM ON CUDA PLATFORM

Cekmez U., ÖZSIĞINAN M., ŞAHİNGÖZ O. K.

International Conference on Unmanned Aircraft Systems (ICUAS), Florida, Amerika Birleşik Devletleri, 27 - 30 Mayıs 2014, ss.347-354 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/icuas.2014.6842273
  • Basıldığı Şehir: Florida
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.347-354
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

Solving the path planning problem of a UAV is a challenging issue especially if there are too many checkpoints to visit. Mainly, the brute force approach is used to find the shortest path in the mission area, which requires too many times to find a solution. Therefore, evolutionary algorithms and swarm intelligence techniques are used to find a feasible solution in an acceptable time. In this study, path planning problem of a UAV is solved by using a highly parallelized Ant Colony Optimization (ACO) algorithm on CUDA platform. The UAV path is constructed for disseminating keys and collecting data from a Wireless Sensor Network, which is previously defined.