The High-speed Rotorcraft UAV Trajectory Planning Based on the Beetle Antennae Search Optimization Algorithm

Author(s):  
Jia Song ◽  
Mingming Sun
2021 ◽  
Vol 104 (2) ◽  
pp. 003685042110254
Author(s):  
Armaghan Mohsin ◽  
Yazan Alsmadi ◽  
Ali Arshad Uppal ◽  
Sardar Muhammad Gulfam

In this paper, a novel modified optimization algorithm is presented, which combines Nelder-Mead (NM) method with a gradient-based approach. The well-known Nelder Mead optimization technique is widely used but it suffers from convergence issues in higher dimensional complex problems. Unlike the NM, in this proposed technique we have focused on two issues of the NM approach, one is shape of the simplex which is reshaped at each iteration according to the objective function, so we used a fixed shape of the simplex and we regenerate the simplex at each iteration and the second issue is related to reflection and expansion steps of the NM technique in each iteration, NM used fixed value of [Formula: see text], that is, [Formula: see text]  = 1 for reflection and [Formula: see text]  = 2 for expansion and replace the worst point of the simplex with that new point in each iteration. In this way NM search the optimum point. In proposed algorithm the optimum value of the parameter [Formula: see text] is computed and then centroid of new simplex is originated at this optimum point and regenerate the simplex with this centroid in each iteration that optimum value of [Formula: see text] will ensure the fast convergence of the proposed technique. The proposed algorithm has been applied to the real time implementation of the transversal adaptive filter. The application used to demonstrate the performance of the proposed technique is a well-known convex optimization problem having quadratic cost function, and results show that the proposed technique shows fast convergence than the Nelder-Mead method for lower dimension problems and the proposed technique has also good convergence for higher dimensions, that is, for higher filter taps problem. The proposed technique has also been compared with stochastic techniques like LMS and NLMS (benchmark) techniques. The proposed technique shows good results against LMS. The comparison shows that the modified algorithm guarantees quite acceptable convergence with improved accuracy for higher dimensional identification problems.


2021 ◽  
Author(s):  
Shuo Zhang ◽  
Shuo Shi ◽  
Tianming Feng ◽  
Xuemai Gu

Abstract Unmanned aerial vehicles (UAVs) have been widely used in communication systems due to excellent maneuverability and mobility. The ultra-high speed, ultra-low latency, and ultra-high reliability of 5th generation wireless systems (5G) have further promoted vigorous development of UAVs. Compared with traditional means of communication, UAV can provide services for ground terminal without time and space constraints, so it is often used as air base station (BS). Especially in emergency communications and rescue, it provides temporary communication signal coverage service for disaster areas. In the face of large-scale and scattered user coverage tasks, UAV's trajectory is an important factor affecting its energy consumption and communication performance. In this paper, we consider a UAV emergency communication network where UAV aims to achieve complete coverage of potential underlying D2D users (DUs). The trajectory planning problem is transformed into the deployment and connection problem of stop points (SPs). Aiming at trajectory length and sum throughput, two trajectory planning algorithms based on K-means are proposed. Due to the non-convexity of sum throughput optimization, we present a sub-optimal solution by using the successive convex approximation (SCA) method. In order to balance the relationship between trajectory length and sum throughput, we propose a joint evaluation index which is used as an objective function to further optimize trajectory. Simulation results show the validity of the proposed algorithms which have advantages over the well-known benchmark scheme in terms of trajectory length and sum throughput.


2021 ◽  
Vol 19 (1) ◽  
pp. 643-662
Author(s):  
Zhiqiang Wang ◽  
◽  
Jinzhu Peng ◽  
Shuai Ding

<abstract><p>In this paper, a novel bio-inspired trajectory planning method is proposed for robotic systems based on an improved bacteria foraging optimization algorithm (IBFOA) and an improved intrinsic Tau jerk (named Tau-J*) guidance strategy. Besides, the adaptive factor and elite-preservation strategy are employed to facilitate the IBFOA, and an improved Tau-J* with higher-order of intrinsic guidance movement is used to avoid the nonzero initial and final jerk, so as to overcome the computational burden and unsmooth trajectory problems existing in the optimization algorithm and traditional interpolation algorithm. The IBFOA is utilized to determine a small set of optimal control points, and Tau-J* is then invoked to generate smooth trajectories between the control points. Finally, the results of simulation tests demonstrate the eminent stability, optimality, and rapidity capability of the proposed bio-inspired trajectory planning method.</p></abstract>


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