Social-class pigeon-inspired optimization and time stamp segmentation for multi-UAV cooperative path planning

A parallel particle swarm optimization and enhanced sparrow search algorithm for unmanned aerial vehicle path planning

Unmanned Aerial Vehicle (UAV) path planning is to plan an optimal path for its flight in a specific environment. But it cannot get satisfactory results using ordinary algorithms. To solve this problem, a hybrid algorithm is proposed named as PESSA, where particle swarm optimization (PSO) and an enhanced sparrow search algorithm (ESSA) work in parallel. In the ESSA, the random jump of the producer's position is strengthened to guarantee the global search ability. Each scrounger keeps learning from the vintage experience of the producers. For the best-positioned sparrow, when it perceives the threat, the difference between the best individual and the worst individual will be imposed to speed up the search process. The elite reverse search strategy was added to yields the optimum diversity. In this paper, the performance of the PESSA algorithm is verified by 10 basic functions, and it can find the optimal value on the 7 test functions. Compared with the other 12 algorithms, PESSA's average value always ranks first. Finally, the proposed PESSA is applied in 4 different scenarios including two groups of 2D environments and two groups of 3D environments. In 2D environments, the average optimization results can reach 0.0165 and 0.0521 in two cases respectively. In 3D environments, the average optimization results can reach 0.6635 and 0.5349 in two cases respectively. The results show that the PESSA algorithm can acquire more feasible and effective route than compared algorithms.

Modified Mayfly Algorithm for UAV Path Planning

The unmanned aerial vehicle (UAV) path planning problem is primarily concerned with avoiding collision with obstacles while determining the best flight path to the target position. This paper first establishes a cost function to transform the UAV route planning issue into an optimization issue that meets the UAV’s feasible path requirements and path safety constraints. Then, this paper introduces a modified Mayfly Algorithm (modMA), which employs an exponent decreasing inertia weight (EDIW) strategy, adaptive Cauchy mutation, and an enhanced crossover operator to effectively search the UAV configuration space and discover the path with the lowest overall cost. Finally, the proposed modMA is evaluated on 26 benchmark functions as well as the UAV route planning problem, and the results demonstrate that it outperforms the other compared algorithms.

An efficient and global interactive optimization methodology for path planning with multiple routing constraints

Path planning problem is attracting wide attention in autonomous system and process industry system. The existed research mainly focuses on finding the shortest path from the source vertex to the termination vertex under loose constraints of vertex and edge. However, in realistic, the constraints such as specified vertexes, specified paths, forbidden paths and forbidden vertexes have to be considered, which makes the existing algorithms inefficient even infeasible. Aiming at solving the problems of complex path planning with multiple routing constraints, this paper organizes transforms the constraints into appropriate mathematical analytic expressions. Then, in order to overcome the defects of existing coding and optimization algorithms, an adaptive strategy for the vertex priority is proposed in coding, and an efficient and global optimization methodology based on swarm intelligence algorithms is put forward, which can make full use of the high efficiency of the local optimization algorithm and the high search ability of the global optimization algorithm. Moreover, the optimal convergence condition of the methodology is proved theoretically. Finally, two experiments are inducted, and the results demonstrated its efficiency and superiority.

Ant Colony Evacuation Planner: An Ant Colony System With Incremental Flow Assignment for Multipath Crowd Evacuation

Evacuation path optimization (EPO) is a crucial problem in crowd and disaster management. With the consideration of dynamic evacuee velocity, the EPO problem becomes nondeterministic polynomial-time hard (NP-Hard). Furthermore, since not only one single evacuation path but multiple mutually restricted paths should be found, the crowd evacuation problem becomes even challenging in both solution spatial encoding and optimal solution searching. To address the above challenges, this article puts forward an ant colony evacuation planner (ACEP) with a novel solution construction strategy and an incremental flow assignment (IFA) method. First, different from the traditional ant algorithms, where each ant builds a complete solution independently, ACEP uses the entire colony of ants to simulate the behavior of the crowd during evacuation. In this way, the colony of ants works cooperatively to find a set of evacuation paths simultaneously and thus multiple evacuation paths can be found effectively. Second, in order to reduce the execution time of ACEP, an IFA method is introduced, in which fractions of evacuees are assigned step by step, to imitate the group-based evacuation process in the real world so that the efficiency of ACEP can be further improved. Numerical experiments are conducted on a set of networks with different sizes. The experimental results demonstrate that ACEP is promising.

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

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.

An Improved Equilibrium Optimizer with Application in Unmanned Aerial Vehicle Path Planning

The unmanned aerial vehicle (UAV) path planning problem is a type of complex multi-constraint optimization problem that requires a reasonable mathematical model and an efficient path planning algorithm. In this paper, the fitness function including fuel consumption cost, altitude cost, and threat cost is established. There are also four set constraints including maximum flight distance, minimum flight altitude, maximum turn angle, and maximum climb angle. The constrained optimization problem is transformed into an unconstrained optimization problem by using the penalty function introduced. To solve the model, a multiple population hybrid equilibrium optimizer (MHEO) is proposed. Firstly, the population is divided into three subpopulations based on fitness and different strategies are executed separately. Secondly, a Gaussian distribution estimation strategy is introduced to enhance the performance of MHEO by using the dominant information of the populations to guide the population evolution. The equilibrium pool is adjusted to enhance population diversity. Furthermore, the Lévy flight strategy and the inferior solution shift strategy are used to help the algorithm get rid of stagnation. The CEC2017 test suite was used to evaluate the performance of MHEO, and the results show that MHEO has a faster convergence speed and better convergence accuracy compared to the comparison algorithms. The path planning simulation experiments show that MHEO can steadily and efficiently plan flight paths that satisfy the constraints, proving the superiority of the MHEO algorithm while verifying the feasibility of the path planning model.

A Modified Sparrow Search Algorithm with Application in 3d Route Planning for UAV

The unmanned aerial vehicle (UAV) route planning problem mainly centralizes on the process of calculating the best route between the departure point and target point as well as avoiding obstructions on route to avoid collisions within a given flight area. A highly efficient route planning approach is required for this complex high dimensional optimization problem. However, many algorithms are infeasible or have low efficiency, particularly in the complex three-dimensional (3d) flight environment. In this paper, a modified sparrow search algorithm named CASSA has been presented to deal with this problem. Firstly, the 3d task space model and the UAV route planning cost functions are established, and the problem of route planning is transformed into a multi-dimensional function optimization problem. Secondly, the chaotic strategy is introduced to enhance the diversity of the population of the algorithm, and an adaptive inertia weight is used to balance the convergence rate and exploration capabilities of the algorithm. Finally, the Cauchy-Gaussian mutation strategy is adopted to enhance the capability of the algorithm to get rid of stagnation. The results of simulation demonstrate that the routes generated by CASSA are preferable to the sparrow search algorithm (SSA), particle swarm optimization (PSO), artificial bee colony (ABC), and whale optimization algorithm (WOA) under the identical environment, which means that CASSA is more efficient for solving UAV route planning problem when taking all kinds of constraints into consideration.