An improved swarm optimization algorithm for vehicle path planning problem

2016 ◽  
Author(s):  
Elgarej Mouhcine ◽  
Khalifa Mansouri ◽  
Youssfi Mohamed
Keyword(s):  
Path Planning ◽  
Optimization Algorithm ◽  
Planning Problem ◽  
Swarm Optimization ◽  
Vehicle Path ◽  
Path Planning Problem

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.

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.

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.

Vehicle Path Planning Method Based on Particle Swarm Optimization Algorithm

2012 ◽  
Vol 468-471 ◽  
pp. 2745-2748
Author(s):  
Sheng Long Yu ◽  
Yu Ming Bo ◽  
Zhi Min Chen ◽  
Kai Zhu
Keyword(s):  
Genetic Algorithm ◽  
Particle Swarm Optimization ◽  
Path Planning ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Adaptive Genetic Algorithm ◽  
Swarm Optimization ◽  
Vehicle Path

A particle swarm optimization algorithm (PSO) is presented for vehicle path planning in the paper. Particle swarm optimization proposed by Kennedy and Eberhart is derived from the social behavior of the birds foraging. Particle swarm optimization algorithm a kind of swarm-based optimization method.The simulation experiments performed in this study show the better vehicle path planning ability of PSO than that of adaptive genetic algorithm and genetic algorithm. The experimental results show that the vehicle path planning by using PSO algorithm has the least cost and it is indicated that PSO algorithm has more excellent vehicle path planning ability than adaptive genetic algorithm,genetic algorithm.

Water wave optimization algorithm for autonomous underwater vehicle path planning problem

2021 ◽  
pp. 1-15
Author(s):  
Zheping Yan ◽  
Jinzhong Zhang ◽  
Jia Zeng ◽  
Jialing Tang
Keyword(s):  
Path Planning ◽  
Water Wave ◽  
Autonomous Underwater Vehicle ◽  
Optimal Path ◽  
Wave Theory ◽  
Underwater Vehicle ◽  
Local Optimum ◽  
Planning Problem ◽  
Vehicle Path ◽  
Path Planning Problem

In this paper, a water wave optimization (WWO) algorithm is proposed to solve the autonomous underwater vehicle (AUV) path planning problem to obtain an optimal or near-optimal path in the marine environment. Path planning is a prerequisite for the realization of submarine reconnaissance, surveillance, combat and other underwater tasks. The WWO algorithm based on shallow wave theory is a novel evolutionary algorithm that mimics wave motions containing propagation, refraction and breaking to obtain the global optimization solution. The WWO algorithm not only avoids jumps out of the local optimum and premature convergence but also has a faster convergence speed and higher calculation accuracy. To verify the effectiveness and feasibility, the WWO algorithm is applied to solve the randomly generated threat areas and generated fixed threat areas. Compared with other algorithms, the WWO algorithm can effectively balance exploration and exploitation to avoid threat areas and reach the intended target with minimum fuel costs. The experimental results demonstrate that the WWO algorithm has better optimization performance and is robust.

scholarly journals Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 255
Author(s):  
Shuang Xia ◽  
Xiangyin Zhang
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Gaussian Distribution ◽  
Planning Problem ◽  
Swarm Optimization ◽  
Q Learning ◽  
Multi Objective ◽  
Aerial Vehicle ◽  
Path Planning Problem

This paper considered the constrained unmanned aerial vehicle (UAV) path planning problem as the multi-objective optimization problem, in which both costs and constraints are treated as the objective functions. A novel multi-objective particle swarm optimization algorithm based on the Gaussian distribution and the Q-Learning technique (GMOPSO-QL) is proposed and applied to determine the feasible and optimal path for UAV. In GMOPSO-QL, the Gaussian distribution based updating operator is adopted to generate new particles, and the exploration and exploitation modes are introduced to enhance population diversity and convergence speed, respectively. Moreover, the Q-Learning based mode selection logic is introduced to balance the global search with the local search in the evolution process. Simulation results indicate that our proposed GMOPSO-QL can deal with the constrained UAV path planning problem and is superior to existing optimization algorithms in terms of efficiency and robustness.

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