An Enhanced NSGA-II for Multiobjective UAV Path Planning in Urban Environments

This paper considers multiobjective UAV path planning in a real 3D environment with the objective to find a safe energy-efficient path. An Enhanced Non-dominated Sorting Genetic Algorithm-II, called ENSGA-II, is proposed and combines several sorts of heuristic information to customize crossover and mutation operators. Furthermore, a local search and a ranking-based roulette wheel selection are incorporated for the mating procedure. Experiment results confirm that ENSGA-II has a better convergence rate and spread of solutions on several new real-world datasets. The effectiveness of the local search component is also validated on the CrazyS robot operating system (ROS) package which consists of a pelican quadcopter's modeling.