Improved GA Based Multi-LAVs’ Aerial Delivery Areas-Choosing Method

In this paper, a multi-LAVs’ aerial delivery areas-choosing method is brought forward, which aims at known targets which are located in a fixed area. This method takes the performance of LAV, especially minimum turning radius, into consideration, and incorporates AHP and Dubins’ path. Based on the discussion of general GA method, we design the IGA method to increase the convergence rate. By using this method, the LAVs can reach the target located at the longest distance within the minimum time. Simulation results show that the IGA method has a higher convergence rate than the general GA method, while the delivery areas can be chosen in an optimized way. The proposed method can be extended to the problem of multi-Dubins vehicles’ task assignment and path planning.