Abstract
Palm oil is an edible vegetable oil that can be used in a wide range of products across different industries ranging from food and beverages, personal care and cosmetics, animal feed, industrial products, to biofuel. The palm oil industry contributes slightly less than 4% of Malaysia’s overall GDP, making it the country’s second-largest producer and exporter of palm oil worldwide. In Malaysia, it has been estimated that there are around 500,000 plantation workers in palm oil industries. In addition to getting a sufficient and steady supply of such usually low skilled workers, there are also issues related to the limits of the human body in performing tough physical work. As a result, UAVs may be utilized to support some of the processes in the palm oil businesses. However, the power of the batteries used in these UAVs is finite before they need to be recharged. Hence, the flight path for the UAV should be optimally computed for it to be able to cover the area it is assigned. In this paper, an improved Non-Dominated Sorting Genetic Algorithm II (NSGA-II) was developed to compute the optimal flight path of UAVs which also includes the turning angle and elevation. Enhancements to the algorithm is done by improving the selection, crossover, and mutation operations of the genetic algorithm which helps to improve the convergence and diversity of the algorithm beside avoiding getting trapped in local optimal solutions. In the majority of the tests, the improved NSGA-II was able to generate paths that are better than those identified by the human expert. Moreover, the proposed improved NSGA-II algorithm was able to compute good paths in less than the threshold of 10 min.
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WH Tan, WK Lai, PH Chen and LC Tay are grateful to TAR UMT for both financial and material support in the work reported here.
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Tan, W.H., Lai, W.K., Chen, P.H., Tay, L.C., Lee, S.S. (2024). An Improved NSGA-II for UAV Path Planning. In: Luo, B., Cheng, L., Wu, ZG., Li, H., Li, C. (eds) Neural Information Processing. ICONIP 2023. Lecture Notes in Computer Science, vol 14448. Springer, Singapore. https://doi.org/10.1007/978-981-99-8082-6_24
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