Date of Award
Master of Science
Department of Electrical and Computer Engineering
Gary B. Lamont, PhD
The purpose of this research is to design and implement a comprehensive mission planning system for swarms of autonomous aerial vehicles. The system integrates several problem domains including path planning, vehicle routing, and swarm behavior. The developed system consists of a parallel, multi-objective evolutionary algorithm-based path planner, a genetic algorithm-based vehicle router, and a parallel UAV swarm simulator. Each of the system's three primary components are developed on AFIT's Beowulf parallel computer clusters. Novel aspects of this research include: integrating terrain following technology into a swarm model as a means of detection avoidance, combining practical problems of path planning and routing into a comprehensive mission planning strategy, and the development of a swarm behavior model with path following capabilities.
DTIC Accession Number
Slear, James N., "AFIT UAV Swarm Mission Planning and Simulation System" (2006). Theses and Dissertations. 3459.