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A synthesizable hardware evolutionary algorithm design for unmanned aerial system real-time path planning

Kok, Jonathan, Gonzalez, Luis F., Walker, Rodney A., Gurnett, Timothy, & Kelson, Neil A. (2010) A synthesizable hardware evolutionary algorithm design for unmanned aerial system real-time path planning. In Wyeth, Gordon & Upcroft, Ben (Eds.) Proceedings of the 2010 Australasian Conference on Robotics & Automation, Brisbane, QLD.

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Abstract

The main objective of this paper is to detail the development of a feasible hardware design based on Evolutionary Algorithms (EAs) to determine flight path planning for Unmanned Aerial Vehicles (UAVs) navigating terrain with obstacle boundaries. The design architecture includes the hardware implementation of Light Detection And Ranging (LiDAR) terrain and EA population memories within the hardware, as well as the EA search and evaluation algorithms used in the optimizing stage of path planning. A synthesisable Very-high-speed integrated circuit Hardware Description Language (VHDL) implementation of the design was developed, for realisation on a Field Programmable Gate Array (FPGA) platform. Simulation results show significant speedup compared with an equivalent software implementation written in C++, suggesting that the present approach is well suited for UAV real-time path planning applications.

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ID Code: 39931
Item Type: Conference Paper
ISBN: 9780980740417
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aerospace Engineering not elsewhere classified (090199)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > QUT Faculties and Divisions > Division of Technology, Information and Learning Support
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > Research Centres > High Performance Computing and Research Support
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 The Australian Robotics and Automation Association Incorporated
Deposited On: 08 Feb 2011 12:01
Last Modified: 13 Feb 2013 08:55

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