UAV Path Planning and Collision Avoidance in 3D Environments Based on POMPD and Improved Grey Wolf Optimizer

2022 ◽  
pp. 107314
Author(s):  
Wei Jiang ◽  
Yongxi Lyu ◽  
Yongfeng Li ◽  
Yicong Guo ◽  
Weiguo Zhang
2021 ◽  
Vol 103 (3) ◽  
Author(s):  
Gewen Huang ◽  
Yanguang Cai ◽  
Jianqi Liu ◽  
Yuanhang Qi ◽  
Xiaozhou Liu

2021 ◽  
Vol 166 ◽  
pp. 113917 ◽  
Author(s):  
Mohammad H. Nadimi-Shahraki ◽  
Shokooh Taghian ◽  
Seyedali Mirjalili

Author(s):  
Radu-Emil Precup ◽  
Emil-Ioan Voisan ◽  
Emil M. Petriu ◽  
Marius L. Tomescu ◽  
Radu-Codrut David ◽  
...  

This paper proposes two applications of Grey Wolf Optimizer (GWO) algorithms to a path planning (PaPl) problem and a Proportional-Integral (PI)-fuzzy controller tuning problem. Both optimization problems solved by GWO algorithms are explained in detail. An off-line GWO-based PaPl approach for Nonholonomic Wheeled Mobile Robots (NWMRs) in static environments is proposed. Once the PaPl problem is solved resulting in the reference trajectory of the robots, the paper also suggests a GWO-based approach to tune cost-effective PI-fuzzy controllers in tracking control problem for NWMRs. The experimental results are demonstrated through simple multiagent settings conducted on the nRobotic platform developed at the Politehnica University of Timisoara, Romania, and they prove both the effectiveness of the two GWO-based approaches and major performance improvement.


Electronics ◽  
2021 ◽  
Vol 10 (24) ◽  
pp. 3178
Author(s):  
Pu Lan ◽  
Kewen Xia ◽  
Yongke Pan ◽  
Shurui Fan

In this study, a model based on the improved grey wolf optimizer (GWO) for optimizing RVFL is proposed to enable the problem of poor accuracy of Oil layer prediction due to the randomness of the parameters present in the random vector function link (RVFL) model to be addressed. Firstly, GWO is improved based on the advantages of chaos theory and the marine predator algorithm (MPA) to overcome the problem of low convergence accuracy in the optimization process of the GWO optimization algorithm. The improved GWO algorithm was then used to optimize the input weights and implicit layer biases of the RVFL network model so that the problem of inaccurate and unstable classification of RVFL due to the randomness of the parameters was avoided. MPA-GWO was used for comparison with algorithms of the same type under a function of 15 standard tests. From the results, it was concluded that it outperformed the algorithms of its type in terms of search accuracy and search speed. At the same time, the MPA-GWO-RVFL model was applied to the field of Oil layer prediction. From the comparison tests, it is concluded that the prediction accuracy of the MPA-GWO-RVFL model is on average 2.9%, 3.04%, 2.27%, 8.74%, 1.47% and 10.41% better than that of the MPA-RVFL, GWO-RVFL, PSO-RVFL, WOA-RVFL, GWFOA-RVFL and RVFL algorithms, respectively, and its practical applications are significant.


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