scholarly journals Adaptive Operator Quantum-Behaved Pigeon-Inspired Optimization Algorithm with Application to UAV Path Planning

Algorithms ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 3 ◽  
Author(s):  
Chunhe Hu ◽  
Yu Xia ◽  
Junguo Zhang
Keyword(s):  
Path Planning ◽  
Nonlinear Problems ◽  
Mapping Method ◽  
Initial Population ◽  
Local Optimum ◽  
Planning Problem ◽  
Dynamic Constraints ◽  
Logistic Mapping ◽  
Global And Local ◽  
Better Than

Path planning of unmanned aerial vehicles (UAVs) in threatening and adversarial areas is a constrained nonlinear optimal problem which takes a great amount of static and dynamic constraints into account. Quantum-behaved pigeon-inspired optimization (QPIO) has been widely applied to such nonlinear problems. However, conventional QPIO is suffering low global convergence speed and local optimum. In order to solve the above problems, an improved QPIO algorithm, adaptive operator QPIO, is proposed in this paper. Firstly, a new initialization process based on logistic mapping method is introduced to generate the initial population of the pigeon-swarm. After that, to improve the performance of the map and compass operation, the factor parameter will be adaptively updated in each iteration, which can balance the ability between global and local search. In the final landmark operation, the gradual decreasing pigeon population-updating strategy is introduced to prevent premature convergence and local optimum. Finally, the demonstration of the proposed algorithm on UAV path planning problem is presented, and the comparison result indicates that the performance of our algorithm is better than that of particle swarm optimization (PSO), pigeon-inspired optimization (PIO), and its variants, in terms of convergence and accuracy.

Path planning of patrol robot based on improved discrete electrostatic discharge algorithm

2022 ◽  
pp. 1-12
Author(s):  
Yang Li ◽  
Simeng Chen ◽  
Ke Bai ◽  
Hao Wang
Keyword(s):  
Path Planning ◽  
Electrostatic Discharge ◽  
Fire Risk ◽  
Convergence Time ◽  
Economic Losses ◽  
Risk Level ◽  
Support Vector ◽  
Initial Population ◽  
Local Optimum ◽  
Planning Problem

Safety is the premise of the stable and sustainable development of the chemical industry, safety accidents will not only cause casualties and economic losses, but also cause panic among workers and nearby residents. Robot safety inspection based on the fire risk level in a chemical industrial park can effectively reduce process accident losses and can even prevent accidents. The optimal inspection path is an important support for patrol efficiency, therefore, in this study, the fire risk level of each location to be inspected, which is obtained by the electrostatic discharge algorithm (ESDA)–nonparallel support vector machine evaluation model, is combined with the optimisation of the inspection path; that is, the fire risk level is used to guide the inspection path planning. The inspection path planning problem is a typical travelling salesman problem (TSP). The discrete ESDA (DESDA), based on the ESDA, is proposed. In view of the shortcomings of the long convergence time and ease of falling into the local optimum of the DESDA, further improvements are proposed in the form of the IDESDA, in which the greedy algorithm is used for the initial population, the 2-opt algorithm is applied to generate new solutions, and the elite set is joined to provide the best segment for jumping out of the local optimum. In the experiments, 11 public calculation examples were used to verify the algorithm performance. The IDESDA exhibited higher accuracy and better stability when solving the TSP. Its application to chemical industrial parks can effectively solve the path optimisation problem of patrol robots.

Robot path planning based on genetic algorithm with hybrid initialization method

2021 ◽  
pp. 1-16
Author(s):  
Zhaojun Zhang ◽  
Rui Lu ◽  
Minglong Zhao ◽  
Shengyang Luan ◽  
Ming Bu
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Iteration Process ◽  
Initial Population ◽  
Local Optimum ◽  
Complex Environments ◽  
Random Initialization ◽  
Planning Problems ◽  
Complete Path

The research of path planning method based on genetic algorithm (GA) for the mobile robot has received much attention in recent years. GA, as one evolutionary computation model, mimics the process of natural evolution and genetics. The quality of the initial population plays an essential role in improving the performance of GA. However, when GA based on a random initialization method is applied to path planning problems, it will lead to the emergence of infeasible solutions and reduce the performance of the algorithm. A novel GA with a hybrid initialization method, termed NGA, is proposed to solve this problem in this paper. In the initial population, NGA first randomly selects three free grids as intermediate nodes. Then, a part of the population uses a random initialization method to obtain the complete path. The other part of the population obtains the complete path using a greedy-related method. Finally, according to the actual situation, the redundant nodes or duplicate paths in the path are deleted to avoid the redundant paths. In addition, the deletion operation and the reverse operation are also introduced to the NGA iteration process to prevent the algorithm from falling into the local optimum. Simulation experiments are carried out with other algorithms to verify the effectiveness of the NGA. Simulation results show that NGA is superior to other algorithms in convergence accuracy, optimization ability, and success rate. Besides, NGA can generate the optimal feasible paths in complex environments.

Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots

Robotica ◽  
2019 ◽  
Vol 38 (3) ◽  
pp. 493-511 ◽  
Author(s):  
Yang Chen ◽  
Shiwen Ren ◽  
Zhihuan Chen ◽  
Mengqing Chen ◽  
Huaiyu Wu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Maximum Speed ◽  
Planning Problem ◽  
Robot System ◽  
Ground Vehicle ◽  
Dynamic Constraints ◽  
Charging Time ◽  
Path Planning Problem ◽  
Flying Robots

SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.

Research on Travel Path Planning Based on Group Related Mapping

2014 ◽  
Vol 644-650 ◽  
pp. 5836-5839
Author(s):  
Li Na Tan
Keyword(s):  
Path Planning ◽  
Mapping Method ◽  
Planning Method ◽  
Planning Problem ◽  
Travel Path ◽  
Path Planning Problem

This paper analyzed travel path planning problem. Firstly, it reviewed some references about path planning method and found that those methods were not suit for travel path planning. Secondly, it proposed group related mapping method to solve travel path planning problem. This method had two steps, arranging trips when conflicts were overlooked and rearranging the trips when conflicts were eliminated. Thirdly, to explain the arrangement clearly, it took schedule of ten days travel along the Big Long River as an example. The result showed that the arrangement of all the accessible trips could be worked out during the whole rafting season.

scholarly journals Multiple Swarm Fruit Fly Optimization Algorithm Based Path Planning Method for Multi-UAVs

2020 ◽  
Vol 10 (8) ◽  
pp. 2822 ◽  
Author(s):  
Kunming Shi ◽  
Xiangyin Zhang ◽  
Shuang Xia
Keyword(s):  
Path Planning ◽  
Nonlinear Optimization ◽  
Optimization Algorithm ◽  
Optimization Problem ◽  
Fruit Fly ◽  
Local Optimum ◽  
Planning Problem ◽  
Fruit Fly Optimization Algorithm ◽  
Nonlinear Optimization Problem ◽  
Fruit Fly Optimization

The path planning of unmanned aerial vehicles (UAVs) in the threat and countermeasure region is a constrained nonlinear optimization problem with many static and dynamic constraints. The fruit fly optimization algorithm (FOA) is widely used to handle this kind of nonlinear optimization problem. In this paper, the multiple swarm fruit fly optimization algorithm (MSFOA) is proposed to overcome the drawback of the original FOA in terms of slow global convergence speed and local optimum, and then is applied to solve the coordinated path planning problem for multi-UAVs. In the proposed MSFOA, the whole fruit fly swarm is divided into several sub-swarms with multi-tasks in order to expand the searching space to improve the searching ability, while the offspring competition strategy is introduced to improve the utilization degree of each calculation result and realize the exchange of information among various fruit fly sub-swarms. To avoid the collision among multi-UAVs, the collision detection method is also proposed. Simulation results show that the proposed MSFOA is superior to the original FOA in terms of convergence and accuracy.

scholarly journals An improved Wolf pack algorithm for optimization problems: Design and evaluation

PLoS ONE ◽  
2021 ◽  
Vol 16 (8) ◽  
pp. e0254239
Author(s):  
Xuan Chen ◽  
Feng Cheng ◽  
Cong Liu ◽  
Long Cheng ◽  
Yin Mao
Keyword(s):  
Optimization Problems ◽  
Local Development ◽  
Initial Population ◽  
Local Optimum ◽  
Engineering Optimization ◽  
Test Functions ◽  
Opposition Based Learning ◽  
Global And Local ◽  
Swarm Intelligence Algorithm ◽  
Search Capability

Wolf Pack Algorithm (WPA) is a swarm intelligence algorithm that simulates the food searching process of wolves. It is widely used in various engineering optimization problems due to its global convergence and computational robustness. However, the algorithm has some weaknesses such as low convergence speed and easily falling into local optimum. To tackle the problems, we introduce an improved approach called OGL-WPA in this work, based on the employments of Opposition-based learning and Genetic algorithm with Levy’s flight. Specifically, in OGL-WPA, the population of wolves is initialized by opposition-based learning to maintain the diversity of the initial population during global search. Meanwhile, the leader wolf is selected by genetic algorithm to avoid falling into local optimum and the round-up behavior is optimized by Levy’s flight to coordinate the global exploration and local development capabilities. We present the detailed design of our algorithm and compare it with some other nature-inspired metaheuristic algorithms using various classical test functions. The experimental results show that the proposed algorithm has better global and local search capability, especially in the presence of multi-peak and high-dimensional functions.

Global Path Planning for Mobile Robot Based on Improved Ant Colony Algorithms

2013 ◽  
Vol 418 ◽  
pp. 15-19 ◽  
Author(s):  
Min Huang ◽  
Ping Ding ◽  
Jiao Xue Huan
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Ant Colony ◽  
Mobile Robot Navigation ◽  
Local Optimum ◽  
Planning Problem ◽  
Optimal Path Planning ◽  
Global Path Planning ◽  
Global Optimal

Global optimal path planning is always an important issue in mobile robot navigation. To avoid the limitation of local optimum and accelerate the convergence of the algorithm, a new robot global optimal path planning method is proposed in the paper. It adopts a new transition probability function which combines with the angle factor function and visibility function, and at the same time, sets penalty function by a new pheromone updating model to improve the accuracy of the route searching. The results of computer emulating experiments prove that the method presented is correct and effective, and it is better than the genetic algorithm and traditional ant colony algorithm for global path planning problem.

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 Local and Global Path Generation for Autonomous Vehicles Using Splines

Ingeniería ◽  
2016 ◽  
Vol 21 (2) ◽  
pp. 188-200 ◽  
Author(s):  
Randerson Lemos ◽  
Olmer Garcia ◽  
Janito Vaqueiro Ferreira
Keyword(s):  
Path Planning ◽  
Autonomous Vehicles ◽  
Planning Problem ◽  
Arc Length ◽  
Raw Data ◽  
Planning Technique ◽  
Global Route ◽  
Autonomous Mobility ◽  
Highly Correlated ◽  
Global And Local

Context: Before autonomous vehicles being a reality in daily situations, outstanding issues regarding the techniques of autonomous mobility must be solved. Hence, relevant aspects of a path planning for terrestrial vehicles are shown.Method: The approached path planning technique uses splines to generate the global route. For this goal, waypoints obtained from online map services are used. With the global route parametrized in the arc-length, candidate local paths are computed and the optimal one is selected by cost functions.Results: Different routes are used to show that the number and distribution of waypoints are highly correlated to a satisfactory arc-length parameterization of the global route, which is essential to the proper behavior of the path planning technique.Conclusions: The cubic splines approach to the path planning problem successfully generates the global and local paths. Nevertheless, the use of raw data from the online map services showed to be unfeasible due the consistency of the data. Hence, a preprocessing stage of the raw data is proposed to guarantee the well behavior and robustness of the technique.

scholarly journals Smooth Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Wenming Wang ◽  
Jiangdong Zhao ◽  
Zebin Li ◽  
Ji Huang
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Local Optimum ◽  
Planning Problem ◽  
Turning Angle ◽  
Heuristic Information ◽  
Starting Point ◽  
Improved Ant Colony Algorithm

Aiming at the problems of slow convergence, easy to fall into local optimum, and poor smoothness of traditional ant colony algorithm in mobile robot path planning, an improved ant colony algorithm based on path smoothing factor was proposed. Firstly, the environment map was constructed based on the grid method, and each grid was marked to make the ant colony move from the initial grid to the target grid for path search. Then, the heuristic information is improved by referring to the direction information of the starting point and the end point and combining with the turning angle. By improving the heuristic information, the direction of the search is increased and the turning angle of the robot is reduced. Finally, the pheromone updating rules were improved, the smoothness of the two-dimensional path was considered, the turning times of the robot were reduced, and a new path evaluation function was introduced to enhance the pheromone differentiation of the effective path. At the same time, the Max-Min Ant System (MMAS) algorithm was used to limit the pheromone concentration to avoid being trapped in the local optimum path. The simulation results show that the improved ant colony algorithm can search the optimal path length and plan a smoother and safer path with fast convergence speed, which effectively solves the global path planning problem of mobile robot.

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