DEVELOPMENT OF A HYBRID GENETIC/K-MEANS ALGORITHM FOR ROUTE OPTIMIZATION CASE STUDY: UNMANNED AERIAL VEHICLE (UAV)

A THESIS research Presented by

Akachukwu Chichebe, M.
M.ENG/SEET/2007/1874 Supervised by Dr. A. M. Aibinu and Engr. Dr. M. N. Nwohu 20th February, 2014

Presentation Outline
Abstract. Introduction. Problem Statement. Motivation. Research Objectives. Research Methodology. Literature Review. Formulation. Method and Mathematical Model. Performance Analysis. Conclusion. References.

Abstract
This research shall present the Development of a Hybrid Genetic/K-Means Algorithm for Unmanned Aerial Vehicle (UAV) Route Optimization. There is a serious concern on achieving the necessary balance between the available on-board energy and the operational goals of range and endurance so as to meet up with mission requirements. This work is aimed at optimizing the performance of the UAV by minimizing the travel route in a multi-destination mission employing a hybrid of Genetic Algorithm (GA) and K-Means Algorithm. The Hybrid GA/K-Means Technique was benchmarked with the GA-Roulette Wheel Selection Method. The result shows that the Hybrid GA/K-Means Technique greatly outperforms the GA-Roulette Wheel Selection Method.

Introduction
An unmanned aerial vehicle (UAV), commonly known as a drone is an aircraft without a human pilot on board. UAV, have been found indispensable for various applications where human intervention is considered difficult or dangerous (Koo et al,. 2002). Three main important characteristics of any UAV/aircraft are, range (how far), endurance (how long) and what can it carry (payload).

Desert Hawk UAV and Ground Control System

Source: Review of the USA Global Hawks UAV Programme

UAV Systems
Source: Office of the US Secretary of Defence, UAV Systems Roadmap 2005-2030

Uses: Scientific research Commercial aerial surveillance. Domestic policing. Agriculture. Search and rescue. Remote sensing. Transportation. Armed attacks. The factors that determine range, endurance and payload are power, weight and efficiency (Ashwin Ravi, 2010). This has necessitated the need to optimize these parameters applying artificial intelligence techniques such as Genetic Algorithm (GA).

Genetic Algorithm (GA) is a random universal evolutionary search technique that imitates the principle of biological evolution. A multipath that searches many peaks in parallel, hence reducing the possibility of local minimum trapping. Works with a bit string encoding instead of the real parameters. The coding of parameter will help the genetic operator to evolve the current state into the next state with minimum computations. Evaluates the fitness of each string to guide its search instead of the optimization function.

GA are helpful and proficient when: The search space is big and/or complicated. Domain knowledge is rare and Mathematical analysis is lacking. Traditional search methods fall short of requirements.

START PARAMETERS SETTING

INITIALIZE POPULATION

EVALUATE FITNESS

SELECTION

CROSSOVER
NO

MUTATION

FITNESS EVALUATION
YES

END

Flowchart of Genetic algorithm

The Working Principle of a Simple GA

K-means clustering is a technique for sorting/grouping items into K groups. The grouping is done by minimizing the sum of squared distances (Euclidean distances) between items and the corresponding centroid. A clustered scatter plot.
Black dots = data points. Blue dots = centroids which define the partitions. Red lines = partitions created by the k-means algorithm.

Start

SOME APPLICATIONS
Traffic Anomaly Detection. GPS Lane Finding. Colour Image Segmentation. Monitoring over Moving Objects. Prediction of Students Academic Performance.

Specify a number K as the number of clusters

Randomly select initial centres as the centre centroids of the K clusters

Generate a new partition by assigning each point to the closest cluster centres

Compute new cluster centres of the current partition

YES

Is this a new partition?

NO End

Flowchart of K-Means Algorithm

Problem Statement
Various attempts have been reported about the use of GA in route optimization in engineering related problems. Despite the promising results obtained, the reproduction process, one of the most critical processes in GA evolution process has been shown to decide the success or failure of the algorithm. GA selection methods during reproduction are plagued with different shortcomings.

Problem Statement Contd

S/N 1 SELECTION STRENGTH WEAKNESSES PROCESS Roulette Wheel There is a high probability for Difficulty is encountered Selection the better chromosome to be when there is significant chosen. difference in the fitness values. Tournament Tournament size can be There is a smaller chance for Selection changed so as to ease the weak individuals to be adjustment of the selection elected if the tournament pressure size is large. Rank Selection All the chromosomes have a Can lead to slower fair chance of being selected convergence, because the best chromosomes do not differ so much from other ones. Steady State It always lead to the It requires a large number of Selection production new offsprings by iterations. few good chromosomes.

Motivation
Three main important characteristics pertaining to any UAV/aircraft are, range (how far), endurance (how long) and what can it carry (payload). The factors that determine range, endurance and payload are power, weight and efficiency. A motivating factor is the idea of combining the Genetic Algorithm and the K-Means clustering algorithm to optimize the UAVs route. Thereby ensuring that it always takes the shortest path in order to efficiently minimise fuel and power consumption.

Research Objectives
The aims and objectives of this thesis are: 1) To formulate an appropriate GA/K-Means hybridization technique. 2) To develop a MATLAB based algorithm for route optimization. 3) To evaluate the performance of the developed algorithm on UAV route optimization as a case study. 4) To develop a MATLAB based Graphical User Interface for UAV route optimization.

Research Methodology
Review of literatures related to UAVs and some previous works done by researchers as concerns system optimization techniques using GA and Kmeans Algorithms. Development working principles of the K-Means and GA. Integrating GA and K-Means to achieve the proposed hybrid system. Highlighting the approaches and techniques used to implement the proposed GA/K-Means hybrid method and data analysis of the work. Applying the newly developed and optimized to the UAV route optimization. Benchmarking results with a normal GA Roulette Wheel Selection method.

Literature Review of GA Characteristics Comparison of Natural and GA terminology (Jamaluddin, 2007).

S/N 1 2 3 4 5 6 7 Natural Chromosome Gene Allele Locus Genotype Phenotype Epitasis Genetic Algorithm String Feature, Character or Detector Feature value String position Structure Parameter set, Alternative solution Nonlinearity Traditional methods Work the parameters themselves Search from a single point Use derivatives or other auxiliary knowledge Use deterministic rules

S/N Genetic Algorithms 1 Work with a coding of the parameter set 2 Search from a population of points 3 Use payoff (objective function) information 4 Use probabilistic transition rules

Engineering Applications of GA
S/N Author(s) Research Work Results

Sulaiman and Arslan (2006)

GA for optimization of word GA employing the FFT instance can length coefficients in a be used for most DSP tasks pipelined FFT processor needing real time operation.

Erentok and A hybrid optimization method GA optimization results were Ziolkowski to analyse metamaterial-based employed to get the upper and (2007) electrically small antennas lower solution space bounds that were needed to compute the maximum total radiated power . Benachaiba et al., (2007) A novel technique for the parameters optimization of the Unified Power Quality Conditioner (UPQC) using Genetic Algorithm (GA). It was shown that parameters optimized by GA gave to UPQC a better strength and additional efficiency. Modified GA is faster and more accurate than Error-and-Trial method and conventional GA, FGPSS optimized with modified GA can improve stability of hydroelectricity scheme

Wang et al., A modified GA based (2008) optimization design of fuzzy governor power system (FGPSS) stabilizer for hydrogenerator unit

Engineering Applications of GA Contd

S/N 5 Author(s) Research Work Results Zhao (2008) the application of GA for the Network design and component optimization of electrical selection are optimized. Useful for system offshore wind farms. wind farm design and evaluation of existing wind farms. Jose et al., A GA-based optimization of Effectively used to advance the (2008) sigma-delta modulators for performance of a 2-2 cascaded wireless transceivers. feed forward sigma-delta ADC which is proposed for WLAN applications. SatyendraSi Optimal power flow (OPF) ngh and problem using Particle Swarm Verma Optimization (PSO) and GA (2012) A case study on IEEE test system shows the possible application of GA and PSO to establish optimal dispatch of generation with Flexible A.C. Transmission System (FACTS) devices.

Hai and Instruction scheduling for low GA is a superior technique for the Binh (2013) power using GA. problem of scheduling for low power, with a large search space and an intricate optimal solution.

Engineering Applications of K-Means Algorithm

S/N 9 Author(s) Research Work Results Somasunda K-means vector quantization Exceptionally good for online web ram and algorithm for compressing applications involving massive and Shanthi images. rapid image and video Rani (2011) transmission. Oladipupo Application of the K-means in A good reference point to observe et al., the prediction of student the progression of academic (2010) performance. performance of students to assist academic planners in effective decision making can be achieved. Siddheswar Ray and Rose H. Turi (2000) Determination of Number of Clusters in K-Means Clustering and Application in Colour Image Segmentation. The validity procedure proposed in the work adjusted well with synthetic images generating a minimum value for the anticipated number of clusters. TKM is weighed against the simple solution of re-evaluating K-means for every object update, TKM attained substantial savings by allocating each object a threshold.

10

11

12

Zhang et Continuous K-means al., (2008) monitoring over moving objects using threshold-based k-means monitoring (TKM).

GA/K-Means Algorithm Flowchart

The explanation of the proposed methodology is as highlighted in step 1-9 herewith. 1) Initialize. The initial population of candidate solutions is generally created arbitrarily across the domain. The initial population size (N); Population growth rate (r); Mutation rate () and number of generations (n).

1 = .0 1

. . (1)

2) Fitness function evaluation: Evaluate the fitness values of the candidate solutions within the initialized population. 3) Selection Using K-Means. Define and choose the number of clusters k needed. Selection allots more copies of those solutions with superior fitness values thereby imposing the survival-of-the-fittest apparatus on the candidate solutions.

a) Initialize. Select k primary points to be used as initial assessments

of the cluster centroids. The selected primary points are known as

the initial starting values. b) Classify. Scrutinise every point in the data set and allot it to the cluster having the nearest centroid. where (2)

is a chosen distance measure between a data point

and the cluster centre

is an indicator of the distance of the n data

points from their respective cluster centres. a) Calculate Centroid. Re-compute the new k centroids after allotting each point to a cluster. 0 = ( 0 )2 +( 0 )2 .(3)

b) Convergence condition. Repeat steps b and c until no point

changes its cluster assignment.

4) 5)

6)

Recombine. Two or more parental solutions are recombined to generate new, probably superior solutions (i.e. offspring). Elitism. Implemented so that the best solution of every generation is copied to the next so that the possibility of its destruction through a genetic operator is eliminated. Crossover. This work adopts the two point crossover technique. In the two point crossover technique, two points are randomly selected as the cut-points and exchanges the right parts of two parents to generate offspring.

7) Mutate. Mutation locally but arbitrarily alters a solution (i.e. offspring). It usually involves one or more changes being made to an individuals trait or traits. 8) Replace. The original parental population is replaced by the created offspring population (solution). 9) Repeat. Reiterate steps 28 pending convergence or a predefined ending condition is met.

Pseudo-code of the proposed Algorithm

BEGIN Generate initial population; Compute fitness of each individual; REPEAT /* New generation /* FOR population_size / 2 DO
Initialize. Select k primary points to be used as initial assessments of the cluster centroids. Classify. Scrutinize every point in the data set and allot it to the cluster having the nearest centroid. Calculate Centroid. Re-compute the new k centroids after allotting each point to a cluster. Convergence condition. Repeat Classify and Calculate Centroid until convergence condition is met.

Recombine parents for two offspring; Compute fitness of offspring; Insert offspring in new generation END FOR UNTIL population has converged END

Experimental Setup
UAV Route Graphical User Interface (GUI) Description

Experimental Setup
The UAV is to travel between 5 locations not far apart along the earth surface.
5 D5

D3

D4

D2

D1

0 0

D0 1 2 3 4 5

Assumptions
The distance between any two points are symmetrical and are on a flat plane. There are no changes in the elevation value of the points in consideration. The distance between any two points is not greater than 20 kilometres.

 0 =

( 0 )2 +( 0 )2

(3)

Equation (3) is the Euclidean distance formula. The distance from one location to another is computed using (3) and the distance matrix obtained is as stated in table below
D0 D0 0 D1 1.4142 D2 3.6065 D3 4.1231 D4 5.6569 D5 7.0711

D1
D2 D3 D4 D5

1.4142
3.6065 4.1231 5.6569 7.0711

0
2.2361 3 4.2426 5.6569

2.2361
0 2.2361 2.2361 3.6056

3
2.2361 0 3 4.1231

4.2426
2.2361 3 0 1.4142

5.6569
3.6056 4.1231 1.4142 0

Performance Analysis
The performance of the developed algorithm is analysed based on the following varying input factors/parameters; Generation size. Size of population. Mutation rate. Growth rate.

Simulation Time for the UAV Route Optimization GUI Console

The simulation time (in seconds) depends on the properties of the computer used. In this case; HP Laptop Computer. Windows 8 OS. 64-bit. 8.00 GB RAM Processor Intel(R) Core(TM) i73630QM CPU @ 2.40GHz 2.4 GHz.

Computer screen-shot of the UAV Route Optimization GUI Console

Effect of Generation size.

Generation Statistics Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Best 13.0095 0 0 13.0716 0.2779 0.0772 13.0095 0 0 13.0218 Worst 18.6175 0.3367 0.1134 17.5417 1.6368 2.6790 17.2981 0.1204 0.0145 17.2584 Average 15.4085 0.2978 0.0887 14.5222 0.5969 0.3563 13.2836 0.0967 0.0094 13.2806 Time 0.0093 0.0007 5.4155E-07 0.0190 0.0011 1.1499E-06 0.0616 0.0077 5.9003E-05 0.1240

10

0.0551 0.0030 13.0095

0 0

0.7227 0.5224 17.4851

0.4081 0.1665

0.1326 0.0176 13.2852

0.0819 0.0067

0.0131 0.0002 0.8942

0.3446 0.1187

20

* Population size = 40, Mutation rate = 0.1, Growth rate = 0.23

Observation. Low Generation sizes results in high and unsteady values of average travelled distance thus reducing the effectiveness and efficiency of the algorithm. High Generation sizes results in high computing time. Hence generation size 6 is chosen as the optimal value because it presented an optimal solution with a relative low computing time.

Effect of Population size.

Population 10 Statistics Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Best 13.0916 Worst 14.0171 Average 13.2162 Time 0.0752

0.1423 0.0202 13.0588

0.1011 0.0102 13.0218 0.0551 0.0030 13.0095

0.8729 0.7620 16.5296

1.3917 1.9369 16.8151 1.1939 1.4254 17.2981

0.1834 0.0336 13.2732

0.1538 0.0237 13.2695 0.1088 0.0118 13.2836

0.0925 0.0086 0.0374

0.0100 0.0001 0.0463 0.0042 1.7797E-05 0.0616

20

30

40

0 0 13.0095
0 0 13.0095 0 0

0.1204 0.0145 17.3597

0.7542 0.5687 17.4974 0.3624 0.1313

0.0967 0.0094 13.2969

0.0894 0.0080 13.3541 0.2526 0.0638

0.0077 5.9003E-05 0.0689

0.0051 2.5843E-05 0.13423 0.0112 0.0001

50

100

* Generation size = 6, Mutation rate = 0.1, Growth rate = 0.23

Observation. Since population size defines the number of chromosomes in a population (in one generation), few chromosomes imply GA has a few possibilities to implement crossover and only a small portion of search space is explored( this hangs the computer each time it is ran) too many chromosomes slow down the GA process. thus, in this the population size of 40 is selected because further increase in population does not help in solving the process faster.

Effect of Mutation rate.

Mutation Rate 0.3 Statistics Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Best 13.0095 0 0 13.0095 0 0 13.0095 0 Worst 17.8697 0.6395 0.4089 17.5344 0.3906 0.1526 17.503 0.4051 Average 13.9217 0.4020 0.1616 13.9059 1.1711 1.3714 13.5479 0.2801 Time 0.0610 0.0062 3.86E-05 0.0618 0.0063 3.92E-05 0.0604 0.0041

0.25

0.2

0.15

0 13.0218 0.0551
0.0030 13.0095 0 0

0.1641 17.2808 0.7041

0.4958 17.2981 0.1204 0.0145

0.0785 13.4034 0.1269

0.0161 13.2836 0.0967 0.0094

1.66E-05 0.0609 0.0068

4.67E-05 0.0616 0.0077 5.9E-05

0.1

* Generation size = 6, Population size = 40, Growth rate = 0.23

Observation. the computation time is not affected by the mutation rate. the randomness presented by mutation aids in searching for global optima solutions and avoiding getting stuck in local optima as was the case while using the mutation value of 0.15. Too high mutation rates results in almost random search in the population hence mutation rate of 0.2 gives lowest standard deviation and variance with respect to the computational time implying consistency. The convergence of all but one of the mutation rate samples to a global optima supports that the presented novel method is efficient, reliable and effective.

Effect of Growth rate.

Growth Rate Statistics Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Average Standard Deviation Variance Best 13.0218 0.0551 0.0030 13.0095 0 0 13.0095 0 0 13.0095 0 0 13.0095 0 0 Worst 17.3362 1.0730 1.1513 17.4431 0.3325 0.1106 17.5030 0.4051 0.1641 17.522 0.3526 0.1243 17.5696 0.4531 0.2053 Average 13.6823 0.4035 0.1628 13.5018 0.2580 0.0666 13.5479 0.2801 0.0785 13.5443 0.2367 0.0560 13.5722 0.2150 0.0462 Time 0.0536 0.0023 5.4203E-06 0.0587 0.0250 0.0006 0.0604 0.0041 1.6613E-05 0.0688 0.0081 6.5143E-05 0.0881 0.0121 0.0001

0.1

0.15

0.23

0.33

0.5

* Generation size = 6, Population size = 40, Mutation rate = 0.1

Observation. computational time increases with growth rate. all sampled growth rates presented a near-steady value of average travelled distance and average worst travelled implying reliability, effectiveness and efficiency. growth rate of 0.23 is chosen because it presented the lowest standard deviation and variance with respect to the computational time implying consistency. the convergence of all but one of the growth rate samples to a global optima supports that the presented novel method is efficient, reliable and effective.

Comparing of Hybrid GA/K-Means Technique to GA-Roulette Wheel Selection Technique.

Result for GA-Roulette Wheel Selection Method with Population size 60
Run 1 2 3 4 5 6 7 8 9 10 Population Size 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 Generation Size 6 6 6 6 6 6 6 6 6 6 Mutation Rate 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 Best Distance 13.0095 13.0095 13.0095 13.0218 13.0341 13.0095 13.0095 13.0095 13.0095 13.0218 Worst Distance 18.7412 18.7412 18.7412 18.7412 18.7412 18.7412 18.7412 18.7166 18.7412 18.7412 Average Distance 16.3349 15.9745 16.0964 16.1851 16.1801 16.1522 16.1838 15.9092 16.1284 16.2245

Result for Hybrid GA/K-Means Technique with Population size 60

Run 1 2 3 4 5 6 7 8 9 10 Population Size 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 60.0000 Generation Size 6 6 6 6 6 6 6 6 6 6 Mutation Rate 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 Best Distance 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 Worst Distance 17.4986 17.4986 17.2074 18.4948 17.4986 17.2074 17.4986 14.5433 18.4948 17.4986 Average Distance 13.3952 13.346 13.273 13.2953 13.4561 13.2122 13.2296 13.1237 13.3715 13.4149

* GA-Roulette Wheel =70% convergence to global optima, whereas GA/K-Means = 100%

Result for GA-Roulette Wheel Selection Method with Population size 40

Run

1 2 3 4 5 6 7 8 9 10

Population Size 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000

Generation Size 6 6 6 6 6 6 6 6 6 6

Mutation Rate 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2

Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23

Best Distance 13.0465 13.0341 13.0095 13.0465 13.0341 13.0465 13.0218 13.0218 13.0095 13.0095

Worst Distance 18.7412 18.6919 18.7412 18.7412 18.7042 18.7412 18.7289 18.7289 18.7166 18.7412

Average Distance 16.1703 16.0449 15.9464 16.2083 15.8120 16.0943 16.0448 15.9357 15.9998 15.8634

Result for Hybrid GA/K-Means Technique with Population size 40

Run 1 2 3 4 5 6 7 8 9 10 Population Size 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 40.0000 Generation Size Mutation Rate 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 Best Distance 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 Worst Distance 14.5433 17.2074 17.2074 17.2074 17.2074 17.2522 14.5433 17.2074 17.2522 17.2522 Average Distance 13.2647 13.3357 13.2134 13.368 13.2389 13.3229 13.1171 13.1923 13.2554 13.2657

* GA-Roulette Wheel = 30% convergence to global optima and 70% convergence to local optima whereas GA/K-Means = 100% convergence to global optima.

Result for GA-Roulette Wheel Selection Method with Population size 20

Run

1 2 3 4 5 6 7 8 9 10

Population Size 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000

Generation Size 6 6 6 6 6 6 6 6 6 6

Mutation Rate 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2

Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23

Best Distance 13.3571 13.3112 13.2205 13.2077 13.4439 13.0840 13.6789 13.3196 13.1954 13.1209

Worst Distance 18.6919 18.6057 18.5553 18.7289 18.7166 18.7412 18.7042 18.6673 18.5677 18.7166

Average Distance 16.2327 16.2744 16.6058 16.5590 16.9363 16.0792 16.7968 16.1944 16.1850 16.0070

Result for Hybrid GA/K-Means Technique with Population size 20

Run 1 2 3 4 5 6 7 8 9 10 Population Size 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 20.0000 Generation Size Mutation Rate 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 6 0.2 Growth Rate 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 0.23 Best Distance 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.0095 13.2559 Worst Distance 14.5433 17.2074 17.2074 17.2522 17.2074 17.4986 17.2074 14.2521 17.2074 17.4986 Average Distance 13.0615 13.1602 13.3625 13.1777 13.3538 13.5404 13.2524 13.0433 13.3348 13.4485

* GA-Roulette Wheel = Varying convergences to local optima for each of the simulations, whereas GA/K-Means = 90% convergence to global optima.

Conclusion
In this research work, 1) An appropriate GA/K-Means hybridization technique has been evolved. 2) A MATLAB based algorithm for route optimization has been developed. 3) Evaluation of the performance of the developed algorithm has been done using UAV route optimization as a case study. 4) A MATLAB based Graphical User Interface for UAV route optimization has been developed.

 Benchmarking the Hybrid GA/K-Means Technique with the GA-Roulette Wheel Selection Method has shown that the Hybrid GA/K-Means Technique greatly outperforms the GA-Roulette Wheel Selection Method. It was confirmed that Optimal parameters such as generation of 6, population of 40 , growth rate of 0.23 and mutation rate of 0.2 are optimal in determining appropriate UAV route. Therefore the proposed GA/K-means algorithm can efficiently be used for route optimization.(UAV as a case study).

Recommendation Further research be conducted on the application of the developed algorithm to UAV power optimization. This is because power required by a UAV determines its efficiency. The algorithm should be applied to larger distances so as to evaluate the effect of Earths spherical or surface. This is because flat-Earth formulas for calculating the distance between any two points start giving conspicuous errors when the distance is more than about 20 kilometres even though the circumference of the Earth is about 40,000 kilometres.

Contribution to Knowledge. A new method for UAV route optimization have been developed employing a hybrid of GA/K-means algorithm. A new concept of Polygamous selection for GA reproduction process was developed GUI for UAV route optimization was also developed. Publications in international conference and papers submitted to journal.

Publications related to this research work

S/N PAPER TITLE TYPE STATUS 1 A Decade Survey of Engineering Conference Published Applications of Genetic Algorithm in Power System Optimization NAME 5th Intelligent Systems, Modelling & Simulation Fifth International Conference on Langkawi, Malaysia 27-29 January 2014 Springer: Machine Learning. Special Issue. Data Analysis and intelligent Optimization with Applications Journal no. 10994

A Novel Algorithm

Hybrid

Genetic-K-Means Journal

Submitted and under review

Review of the Engineering Conference Completed Applications of K-Means Algorithm . Awaiting submission

Polygamy Selection Method in K- Journal Means Algorithm for UAV route Optimization. Unmanned Aerial Vehicle (UAV) Power Conference Optimization Using a Hybrid of Genetic Algorithm and K-Means Algorithm

Work in Progress Work in Progress

Thank You All

 A.He, K. K. Bae, T. R. Newman, J. Gaeddert, K. Kim, R. Menon, L. MoralesTirado, J. J. Neel, Y. Zhao, J. H. Reed, and W. H. Tranter, A survey of artificial intelligence for cognitive radios, IEEE Trans. Veh. Technol., vol. 59, no. 4, pp. 15781592, May 2010. Ashwin Ravi, UAV power plant performance evaluation MSc Thesis Faculty of the Graduate College of the Oklahoma State University, 2010 (page 2). Aycan Erentok and Richard W. Ziolkowski, A Hybrid Optimization Method to Analyze Metamaterial-Based Electrically Small Antennas IEEE transactions on antennas and propagation, vol. 55, no. 3, pp 731-741 March 2007. Babita R. Jose, P. Mythili and J. Mathew. GA-based Optimization of Sigma-delta Modulators for Wireless Transceivers Engineering Letter, 16:4, EL_16_4_02. November 2008. Chellali Benachaiba, Ottmane Abdelkhalek, Samira Dib, Mohamed Haidas. Optimization of parameters of the unified power quality conditioner using genetic algorithm method ISSN 1392 124X information technology and control, Vol.36, No.2, 2007

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