FPGA implementation of an evolutionary algorithm for autonomous unmanned aerial vehicle on-board path planning
Kok, Jonathan, Gonzalez, Luis F., & Kelson, Neil A. (2013) FPGA implementation of an evolutionary algorithm for autonomous unmanned aerial vehicle on-board path planning. IEEE Transactions on Evolutionary Computation, 17(2), pp. 272-281.
In this paper, a hardware-based path planning architecture for unmanned aerial vehicle (UAV) adaptation is proposed. The architecture aims to provide UAVs with higher autonomy using an application specific evolutionary algorithm (EA) implemented entirely on a field programmable gate array (FPGA) chip. The physical attributes of an FPGA chip, being compact in size and low in power consumption, compliments it to be an ideal platform for UAV applications. The design, which is implemented entirely in hardware, consists of EA modules, population storage resources, and three-dimensional terrain information necessary to the path planning process, subject to constraints accounted for separately via UAV, environment and mission profiles. The architecture has been successfully synthesised for a target Xilinx Virtex-4 FPGA platform with 32% logic slices utilisation. Results obtained from case studies for a small UAV helicopter with environment derived from LIDAR (Light Detection and Ranging) data verify the effectiveness of the proposed FPGA-based path planner, and demonstrate convergence at rates above the typical 10 Hz update frequency of an autopilot system.
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|Item Type:||Journal Article|
|Keywords:||evolutionary algorithm, field programmable gate array, path planning, unmanned aerial vehicle|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation|
Current > Research Centres > High Performance Computing and Research Support
|Copyright Owner:||Copyright 2013 IEEE|
|Deposited On:||26 Mar 2012 08:37|
|Last Modified:||15 Apr 2013 17:30|
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