scholarly journals Obstacle Avoidance and Path Planning for Quadrotor based on Differential Evolution - Artificial Bee Colony Algorithm

2018 ◽  
Vol 1087 ◽  
pp. 022030 ◽  
Author(s):  
Cheng Haohao ◽  
Qi Xiaohui ◽  
Yang Sen
Author(s):  
Haiqing Liu ◽  
Jinmeng Qu ◽  
Yuancheng Li

Background: As more and more renewable energy such as wind energy is connected to the power grid, the static economic dispatch in the past cannot meet its needs, so the dynamic economic dispatch of the power grid is imperative. Methods: Hence, in this paper, we proposed an Improved Differential Evolution algorithm (IDE) based on Differential Evolution algorithm (DE) and Artificial Bee Colony algorithm (ABC). Firstly, establish the dynamic economic dispatch model of wind integrated power system, in which we consider the power balance constraints as well as the generation limits of thermal units and wind farm. The minimum power generation costs are taken as the objectives of the model and the wind speed is considered to obey the Weibull distribution. After sampling from the probability distribution, the wind speed sample is converted into wind power. Secondly, we proposed the IDE algorithm which adds the local search and global search thoughts of ABC algorithm. The algorithm provides more local search opportunities for individuals with better evolution performance according to the thought of artificial bee colony algorithm to reduce the population size and improve the search performance. Results: Finally, simulations are performed by the IEEE-30 bus example containing 6 generations. By comparing the IDE with the other optimization model like ABC, DE, Particle Swarm Optimization (PSO), the experimental results show that obtained optimal objective function value and power loss are smaller than the other algorithms while the time-consuming difference is minor. The validity of the proposed method and model is also demonstrated. Conclusion: The validity of the proposed method and the proposed dispatch model is also demonstrated. The paper also provides a reference for economic dispatch integrated with wind power at the same time.


2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989478 ◽  
Author(s):  
Zhaoying Li ◽  
Zhao Zhang ◽  
Hao Liu ◽  
Liang Yang

Free space algorithms are kind of graphics-based methods for path planning. With previously known map information, graphics-based methods have high computational efficiency in providing a feasible path. However, the existing free space algorithms do not guarantee the global optimality because they always search in one connected domain but not all the possible connected domains. To overcome this drawback, this article presents an improved free space algorithm based on map decomposition with multiple connected domains and artificial bee colony algorithm. First, a decomposition algorithm of single-connected concave polygon is introduced based on the principle of concave polygon convex decomposition. Any map without obstacle is taken as single-connected concave polygon (the convex polygon map can be seen as already decomposed and will not be discussed here). Single concave polygon can be decomposed into convex polygons by connecting concave points with their visible vertex. Second, decomposition algorithm for multi-connected concave polygon (any map with obstacles) is designed. It can be converted into single-connected concave polygon by excluding obstacles using virtual links. The map can be decomposed into several convex polygons which form multiple connected domains. Third, artificial bee colony algorithm is used to search the optimal path in all the connected domains so as to avoid falling into the local minimum. Numerical simulations and comparisons with existing free space algorithm and rapidly exploring random tree star algorithm are carried out to evaluate the performance of the proposed method. The results show that this method is able to find the optimal path with high computational efficiency and accuracy. It has advantages especially for complex maps. Furthermore, parameter sensitivity analysis is provided and the suggested values for parameters are given.


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