Analysis of Parallel Genetic Algorithm and Parallel Particle Swarm Optimization Algorithm UAV Path Planning on Controller Area Network

Abstract

Path planning of the unmanned aerial vehicle (UAV) is one of the complex optimization problems due to the model complexity and a high number of constraints. Evolutionary algorithms are a conventional method to solve complex optimization problems with multiple constraints. However, they are time-consuming algorithms which make their implementation difficult. UAV path planning is usually a real-time problem that is needed to solve in limited time steps. Parallelization is one of the most effective methods for reducing the computation time of evolutionary algorithms. In the industrial applications, usually there is a communication platform between devices which can be used for the implementation of the parallelization process. For example, controller area network (CAN) is a protocol used for reliable communication in aerospace systems. Due to the development of this protocol on UAVs and its characteristics, it can be used for parallel optimization of path planning problem. In this paper, an asynchronous distributed multi-master parallel genetic algorithm and a parallel particle swarm optimization algorithm are implemented on CAN bus to improve the speed and performance of the UAV path planning.