Session:

GSW - Graduate Student Workshop

Title:

Autonomous Controller Design for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming

Authors:

Gregory J. Barlow

Abstract:

Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using multi-objective genetic programming (GP). Four fitness functions derived from flight simulations were designed and multi-objective GP was used to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. Controllers were evolved for three different kinds of radars: stationary, continuously emitting radars, stationary, intermittently emitting radars, and mobile, continuously emitting radars. In this study, realistic flight parameters and sensor inputs were selected to aid in the transference of evolved controllers to physical UAVs.