scholarly journals A Novel Three-Dimensional Path Planning Method for Fixed-Wing UAV Using Improved Particle Swarm Optimization Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Chen Huang
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Planning Problem ◽  
Dimensional Problem ◽  
Complex Environment ◽  
Swarm Optimization ◽  
Path Planning Problem

This paper proposed an improved particle swarm optimization (PSO) algorithm to solve the three-dimensional problem of path planning for the fixed-wing unmanned aerial vehicle (UAV) in the complex environment. The improved PSO algorithm (called DCA ∗ PSO) based dynamic divide-and-conquer (DC) strategy and modified A ∗ algorithm is designed to reach higher precision for the optimal flight path. In the proposed method, the entire path is divided into multiple segments, and these segments are evolved in parallel by using DC strategy, which can convert the complex high-dimensional problem into several parallel low-dimensional problems. In addition, A ∗ algorithm is adopted to generated an optimal path from the particle swarm, which can avoid premature convergence and enhance global search ability. When DCA ∗ PSO is used to solve the large-scale path planning problem, an adaptive dynamic strategy of the segment selection is further developed to complete an effective variable grouping according to the cost. To verify the optimization performance of DCA ∗ PSO algorithm, the real terrain data is utilized to test the performance for the route planning. The experiment results show that the proposed DCA ∗ PSO algorithm can effectively obtain better optimization results in solving the path planning problem of UAV, and it takes on better optimization ability and stability. In addition, DCA ∗ PSO algorithm is proved to search a feasible route in the complex environment with a large number of the waypoints by the experiment.

Application of Particle Swarm Optimization to Robot Path Planning Problem

2010 ◽  
Author(s):  
Masakazu Kobayashi ◽  
Higashi Masatake
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Particle Swarm ◽  
Degree Of Freedom ◽  
Planning Problem ◽  
Robot Path Planning ◽  
Swarm Optimization ◽  
Articulated Robot ◽  
Path Planning Problem ◽  
Robot Path

A robot path planning problem is to produce a path that connects a start configuration and a goal configuration while avoiding collision with obstacles. To obtain a path for robots with high degree of freedom of motion such as an articulated robot efficiently, sampling-based algorithms such as probabilistic roadmap (PRM) and rapidly-exploring random tree (RRT) were proposed. In this paper, a new robot path planning method based on Particle Swarm Optimization (PSO), which is one of heuristic optimization methods, is proposed in order to improve efficiency of path planning for a wider range of problems. In the proposed method, a group of particles fly through a configuration space while avoiding collision with obstacles and a collection of their trajectories is regarded as a roadmap. A velocity of each particle is updated for every time step based on the update equation of PSO. After explaining the details of the proposed method, this paper shows the comparisons of efficiency between the proposed method and RRT for 2D maze problems and then shows application of the proposed method to path planning for a 6 degree of freedom articulated robot.

UAV Path Planning Based on Particle Swarm Optimization with Global Best Path Competition

2018 ◽  
Vol 32 (06) ◽  
pp. 1859008 ◽  
Author(s):  
Chen Huang ◽  
Jiyou Fei
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Optimal Path ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Competition Strategy ◽  
Swarm Optimization ◽  
Evaluation Functions ◽  
Planning Methods

Path planning is the essential aspect of autonomous flight system for unmanned aerial vehicles (UAVs). An improved particle swarm optimization (PSO) algorithm, named GBPSO, is proposed to enhance the performance of three-dimensional path planning for fixed-wing UAVs in this paper. In order to improve the convergence speed and the search ability of the particles, the competition strategy is introduced into the standard PSO to optimize the global best solution during the process of particle evolution. More specifically, according to a set of segment evaluation functions, the optimal path found by single waypoint selection way is adopted as one of the candidate global best paths. Meanwhile, based on the particle as an integrated individual, an optimal trajectory from the start point to the flight target is generated as another global best candidate path. Subsequently, the global best path is determined by considering the pre-specified elevation function values of two candidate paths. Finally, to verify the performance of the proposed method, GBPSO is compared with some existing path-planning methods in two simulation scenarios with different obstacles. The results demonstrate that GBPSO is more effective, robust and feasible for UAV path planning.

scholarly journals Hybrid chaos-based particle swarm optimization-ant colony optimization algorithm with asynchronous pheromone updating strategy for path planning of landfill inspection robots

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141985908 ◽  
Author(s):  
Peng Chen ◽  
Qing Li ◽  
Chao Zhang ◽  
Jiarui Cui ◽  
Hao Zhou
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Ant Colony Optimization ◽  
Particle Swarm ◽  
Ant Colony ◽  
Planning Problem ◽  
Swarm Optimization ◽  
Gas Poisoning ◽  
Inspection Robots ◽  
Elitist Strategy

Robots are coming to help us in different harsh environments such as deep sea or coal mine. Waste landfill is the place like these with casualty risk, gas poisoning, and explosion hazards. It is reasonable to use robots to fulfill tasks like burying operation, transportation, and inspection. In these assignments, one important issue is to obtain appropriate paths for robots especially in some complex applications. In this context, a novel hybrid swarm intelligence algorithm, ant colony optimization enhanced by chaos-based particle swarm optimization, is proposed in this article to deal with the path planning problem for landfill inspection robots in Asahikawa, Japan. In chaos-based particle swarm optimization, Chebyshev chaotic sequence is used to generate the random factors for particle swarm optimization updating formula so as to effectively adjust particle swarm optimization parameters. This improved model is applied to optimize and determine the hyper parameters for ant colony optimization. In addition, an improved pheromone updating strategy which combines the global asynchronous feature and “Elitist Strategy” is employed in ant colony optimization in order to use global information more appropriately. Therefore, the iteration number of ant colony optimization invoked by chaos-based particle swarm optimization can be reduced reasonably so as to decrease the search time effectively. Comparative simulation experiments show that the chaos-based particle swarm optimization-ant colony optimization has a rapid search speed and can obtain solutions with similar qualities.

scholarly journals Improved Particle Swarm Optimization of Three-Dimensional Path Planning for Fixed Wing Unmanned Aerial Vehicle

2019 ◽  
Vol 35 (2) ◽  
Author(s):  
Giang Thi - Huong Dang ◽  
Quang - Huy Vuong ◽  
Minh Hoang Ha ◽  
Minh - Trien Pham
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Particle Swarm ◽  
Adaptive Mutation ◽  
Planning Problem ◽  
Swarm Optimization ◽  
3D Environment ◽  
Aerial Vehicle ◽  
Improved Pso

Path planning for Unmanned Aerial Vehicle (UAV) targets at generating an optimal global path to the target, avoiding collisions and optimizing the given cost function under constraints. In this paper, the path planning problem for UAV in pre-known 3D environment is presented. Particle Swarm Optimization (PSO) was proved the efficiency for various problems. PSO has high convergence speed yet with its major drawback of premature convergence when solving large-scale optimization problems. In this paper, the improved PSO with adaptive mutation to overcome its drawback in order to applied PSO the UAV path planning in real 3D environment which composed of mountains and constraints. The effectiveness of the proposed PSO algorithm is compared to Genetic Algorithm, standard PSO and other improved PSO using 3D map of Daklak, Dakrong and Langco Beach. The results have shown the potential for applying proposed algorithm in optimizing the 3D UAV path planning. Keywords: UAV, Path planning, PSO, Optimization.

scholarly journals A Novel Particle Swarm Optimization Algorithm Based on Reinforcement Learning Mechanism for AUV Path Planning

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Haoqian Huang ◽  
Chao Jin
Keyword(s):  
Particle Swarm Optimization ◽  
Reinforcement Learning ◽  
Path Planning ◽  
Autonomous Underwater Vehicle ◽  
Synthesis Method ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Feedback Mechanism ◽  
Swarm Optimization ◽  
Learning Mechanism

In order to solve the problems of rapid path planning and effective obstacle avoidance for autonomous underwater vehicle (AUV) in 2D underwater environment, this paper proposes a path planning algorithm based on reinforcement learning mechanism and particle swarm optimization (RMPSO). A feedback mechanism of reinforcement learning is embedded into the particle swarm optimization (PSO) algorithm by using the proposed RMPSO to improve the convergence speed and adaptive ability of the PSO. Then, the RMPSO integrates the velocity synthesis method with the Bezier curve to eliminate the influence of ocean currents and save energy for AUV. Finally, the path is developed rapidly and obstacles are avoided effectively by using the RMPSO. Simulation and experiment results show the superiority of the proposed method compared with traditional methods.

Robotic Path Planning Using Flower Pollination Algorithm

2020 ◽  
Vol 13 (2) ◽  
pp. 191-199
Author(s):  
Ishita Mehta ◽  
Geetika Singh ◽  
Yogita Gigras ◽  
Anuradha Dhull ◽  
Priyanka Rastogi
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Ant Colony Optimization ◽  
Optimization Algorithm ◽  
Flower Pollination Algorithm ◽  
Planning Problem ◽  
Swarm Optimization ◽  
Flower Pollination ◽  
Cpu Time ◽  
Path Planning Problem

Background: Robotic path planning is an important facet of robotics. Its purpose is to make robots move independently in their work environment from a source to a destination whilst satisfying certain constraints. Constraint conditions are as follows: avoiding collision with obstacles, staying as far as possible from the obstacles, traversing the shortest path, taking minimum time, consuming minimum energy and so on. Hence, the robotic path planning problem is a conditional constraint optimization problem. Methods: To overcome this problem, the Flower Pollination Algorithm, which is a metaheuristic approach is employed. The effectiveness of Flower Pollination Algorithm is showcased by using diverse maps. These maps are composed of several fixed obstacles in different positions, a source and a target position. Initially, the pollinators carrying pollen (candidate solutions) are at the source location. Subsequently, the pollinators must pave a way towards the target location while simultaneously averting any obstacles that are encountered enroute. The pollinators should also do so with the minimum cost possible in terms of distance. The performance of the algorithm in terms of CPU time is evaluated. Flower Pollination Algorithm was also compared to the Particle Swarm Optimization algorithm and Ant Colony Optimization algorithm. Results: It was observed that Flower Pollination Algorithm is faster than Particle Swarm Optimization and Ant Colony Optimization in terms of CPU time for the same number of iterations to find an optimized solution for robotic path planning. Conclusion: The Flower Pollination Algorithm can be effectively applied for solving robotic path planning problem with static obstacles.

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