faust-wang / path-replanning

Path replanners for UAV for emergency landing (DE4s, GA4s, GH4s, MPGA4s methods).

Path Replanning

Overview

We have eight path replanning.

• DE4s -> Differential Evolution for security [DE4s]

• GH4s -> Greedy Heuristic for security [GH4s] [Link Artigo]

• GA4s -> Genetic Algorithm for security [GA4s] [Link Artigo]

• MPGA4s -> Multi-Population Genetic Algorithm for security [MPGA4s] [Link Artigo]

• MS4s -> Multi-Start for security [MS4s]

• MILP4s -> Mixed Integer Linear Programming for security [MILP4s]

• SGA4s -> Simple Genetic Algorithm for security [SGA4s]

• APSTD4s -> Algoritmo de Pouso Sem Tomada de Decisão for security [APSTD4s]

To Run

Example of how to run the MPGA4s, or other planners are similar.

With plot of the route in a .png file:

$ cd MPGA4s
$ ./exec-replanner-plot.sh

Without plot of the route:

$ cd MPGA4s
$ ./exec-replanner.sh

Input Files

• instance-maps/In_00m.sgl -> Map file used by the Genetic Algorithm.
• config.sgl -> Configuration file used by the Genetic Algorithm.
• instance -> Instance file used by the Genetic Algorithm.

NOTE: For more information about the map file, go to link.

Output Files

• output-simulation.log -> file with various information generated by the Genetic Algorithm.
• route.txt -> file with the route found by the Genetic Algorithm.
• sol_N.png -> image containing the best route found by the Genetic Algorithm.

Configurations

To change the INSTANCE MAP and CONFIG FILE, you need to change lines 211 and 212 of the instance file:

-----------------------<FILE>instance<FILE>-----------------------
| LINE | CONTENT                                                 |
|----------------------------------------------------------------|
|  ... | ...                                                     |
|  208 | ProOF.apl.jeezzz.problem.PPCCS.instance.InstanceProblem |
|  209 | <parameters number>                                     |
|  210 | 2                                                       |
|  211 | instance-maps/I1_000.sgl                                | <- This line represent the INSTANCE MAP
|  212 | config.sgl                                              | <- This line represent the CONFIG FILE
|  ... | ...                                                     |
------------------------------------------------------------------

To change the NUMBER OF POPULATIONS and NUMBER OF INDIVIDUALS, you need to change lines 105 and 106 of the instance file:

-----------------------<FILE>instance<FILE>-----------------------
| LINE | CONTENT                                                 |
|----------------------------------------------------------------|
|  ... | ...                                                     |
|  102 | ProOF.apl.advanced1.method.MPGA                         |
|  103 | <parameters number>                                     |
|  104 | 2                                                       |
|  105 | 3                                                       | <- This line represent the NUMBER OF POPULATIONS
|  106 | 39                                                      | <- This line represent the NUMBER OF INDIVIDUALS total (39 = 3x13)
|  107 | <node id>                                               |
|  ... | ...                                                     |
------------------------------------------------------------------

To change the TIME to execute the method, you need to change line 117 of the instance file:

-----------------------<FILE>instance<FILE>-----------------------
| LINE | CONTENT                                                 |
|----------------------------------------------------------------|
|  ... | ...                                                     |
|  114 | ProOF.gen.stopping.Time                                 |
|  115 | <parameters number>                                     |
|  116 | 1                                                       |
|  117 | 1.0                                                     | <- This line represent the TIME (in seconds)
|  118 | <node id>                                               |
|  ... | ...                                                     |
------------------------------------------------------------------

To change the CROSSOVER RATE and MUTATION RATE, you need to change lines 128 and 129 of the instance file:

-----------------------<FILE>instance<FILE>-----------------------
| LINE | CONTENT                                                 |
|----------------------------------------------------------------|
|  ... | ...                                                     |
|  125 | ProOF.apl.advanced1.FMS.population.Convergence          |
|  126 | <parameters number>                                     |
|  127 | 2                                                       |
|  128 | 0.5                                                     | <- This line represent the CROSSOVER RATE
|  129 | 0.75                                                    | <- This line represent the MUTATION RATE
|  130 | <node id>                                               |
|  ... | ...                                                     |
------------------------------------------------------------------

To change the NUMBER OF RAMIFICATION, you need to change line 223 of the instance file:

-----------------------<FILE>instance<FILE>-----------------------
| LINE | CONTENT                                                 |
|----------------------------------------------------------------|
|  ... | ...                                                     |
|  220 | ProOF.apl.advanced1.FMS.structure.Tree                  |
|  221 | <parameters number>                                     |
|  222 | 1                                                       |
|  223 | 3                                                       | <- This line represent the NUMBER OF RAMIFICATION
|  224 | <node id>                                               |
|  ... | ...                                                     |
------------------------------------------------------------------

Contributors

Os principais contribuidores desse projeto podem ser encontrados aqui

Changelog

A versão do ChangeLog pode ser acessado aqui.

Licença

Os Path-Replanning estão disponíveis sobre código aberto com permissões GNU General Public License v3.0.

---

Copyright 2018 - Jesimar da Silva Arantes.