FPGA Implementation of an Evolutionary Algorithm for Autonomous Unmanned Aerial Vehicle On-Board Path Planning

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) chi...

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Vydáno v:IEEE transactions on evolutionary computation Ročník 17; číslo 2; s. 272 - 281
Hlavní autoři: Kok, J., Gonzalez, L. F., Kelson, N.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.04.2013
Institute of Electrical and Electronics Engineers
Témata:
Algorithmics. Computability. Computer arithmetics
Applied sciences
Artificial intelligence
Biological cells
Computer architecture
Computer science; control theory; systems
Control theory. Systems
Convergence
Evolutionary algorithm (EA)
Exact sciences and technology
Field programmable gate arrays
field-programmable gate array (FPGA)
Genetic algorithms
Hardware
Learning and adaptive systems
Path planning
Robotics
Theoretical computing
unmanned aerial vehicle (UAV)
Energy consumption
unmanned aerial vehicle (UAV)
Helicopter
Process planning
Evolutionary algorithm (EA)
Evolutionary algorithm
Updating
Field programmable gate array
Path planning
Autopilot
Low power
field-programmable gate array (FPGA)
Circuit architecture
Unmanned aerial vehicle
Optimal trajectory
Convergence rate
Autonomy
Numerical convergence
ISSN:1089-778X, 1941-0026
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Popis
Shrnutí: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, makes it an ideal platform for UAV applications. The design, which is implemented entirely in hardware, consists of EA modules, population storage resources, and 3-D 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 synthesized for a target Xilinx Virtex-4 FPGA platform with 32% logic slice utilization. Results obtained from case studies for a small UAV helicopter with environment derived from light-detection and ranging data verify the effectiveness of the proposed FPGA-based pathplanner, and demonstrate convergence at rates above the typical 10 Hz update frequency of an autopilot system.
ISSN:1089-778X
1941-0026
DOI:10.1109/TEVC.2012.2192124