Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always ...Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.展开更多
Efficient flight path design for unmanned aerial vehicles(UAVs)in urban environmental event monitoring remains a critical challenge,particularly in prioritizing high-risk zones within complex urban landscapes.Current ...Efficient flight path design for unmanned aerial vehicles(UAVs)in urban environmental event monitoring remains a critical challenge,particularly in prioritizing high-risk zones within complex urban landscapes.Current UAV path planning methodologies often inadequately account for environmental risk factors and exhibit limitations in balancing global and local optimization efficiency.To address these gaps,this study proposes a hybrid path planning framework integrating an improved Ant Colony Optimization(ACO)algorithm with an Orthogonal Jump Point Search(OJPS)algorithm.Firstly,a two-dimensional grid model is constructed to simulate urban environments,with key monitoring nodes selected based on grid-specific environmental risk values.Subsequently,the improved ACO algorithm is used for global path planning,and the OJPS algorithm is integrated to optimize the local path.The improved ACO algorithm introduces the risk value of environmental events,which is used to direct the UAV to the area with higher risk.In the OJPS algorithm,the path search direction is restricted to the orthogonal direction,which improves the computational efficiency of local path optimization.In order to evaluate the performance of the model,this paper utilizes the metrics of the average risk value of the path,the flight time,and the number of turns.The experimental results demonstrate that the proposed improved ACO algorithm performs well in the average risk value of the paths traveled within the first 5 min,within the first 8 min,and within the first 10 min,with improvements of 48.33%,26.10%,and 6.746%,respectively,over the Particle Swarm Optimization(PSO)algorithm and 70.33%,19.08%,and 10.246%,respectively,over theArtificial Rabbits Optimization(ARO)algorithm.TheOJPS algorithmdemonstrates superior performance in terms of flight time and number of turns,exhibiting a reduction of 40%,40%and 57.1%in flight time compared to the other three algorithms,and a reduction of 11.1%,11.1%and 33.8%in the number of turns compared to the other three algorithms.These results highlight the effectiveness of the proposed method in improving the UAV’s ability to respond efficiently to urban environmental events,offering significant implications for the future of UAV path planning in complex urban settings.展开更多
Path planning algorithm is the key point to UAV path planning scenario.Many traditional path planning methods still suffer from low convergence rate and insufficient robustness.In this paper,three main methods are con...Path planning algorithm is the key point to UAV path planning scenario.Many traditional path planning methods still suffer from low convergence rate and insufficient robustness.In this paper,three main methods are contributed to solving these problems.First,the improved artificial potential field(APF)method is adopted to accelerate the convergence process of the bat’s position update.Second,the optimal success rate strategy is proposed to improve the adaptive inertia weight of bat algorithm.Third chaos strategy is proposed to avoid falling into a local optimum.Compared with standard APF and chaos strategy in UAV path planning scenarios,the improved algorithm CPFIBA(The improved artificial potential field method combined with chaotic bat algorithm,CPFIBA)significantly increases the success rate of finding suitable planning path and decrease the convergence time.Simulation results show that the proposed algorithm also has great robustness for processing with path planning problems.Meanwhile,it overcomes the shortcomings of the traditional meta-heuristic algorithms,as their convergence process is the potential to fall into a local optimum.From the simulation,we can see also obverse that the proposed CPFIBA provides better performance than BA and DEBA in problems of UAV path planning.展开更多
Unmanned aerial vehicle(UAV)path planning plays an important role in power systems.In order to address the challenge in UAV path planning,an improved crested porcupine optimizer(ICPO)combining the Cauchy inverse cumul...Unmanned aerial vehicle(UAV)path planning plays an important role in power systems.In order to address the challenge in UAV path planning,an improved crested porcupine optimizer(ICPO)combining the Cauchy inverse cumulative distribution function and JAYA algorithm is proposed in this paper.First,the traditional random initialization is replaced by sine chaotic mapping,making the initial population more evenly distributed in the search space and improving the quality of the initial solution.Since the global search ability of the crested porcupine optimizer(CPO)is limited,the Cauchy inverse cumulative distribution strategy is introduced.In addition,as CPO is prone to fall into local optima in later stages,a weighted JAYA-CPO attack strategy is proposed to balance the global exploration and local exploitation,thereby improving the algorithm’s ability to escape from local optima.Finally,ICPO is compared with another 10 algorithms on the cec2017 and cec2020 test sets.The experimental results show that ICPO has excellent competitiveness and optimization performance.The ICPO algorithm is applied to the path planning problem of power inspection UAV and is compared with four algorithms.The results show that the algorithm can generate more feasible path trajectories across two terrains with varying complexity,demonstrating the effectiveness and significance of the ICPO algorithm for UAV power inspection path planning.展开更多
In this paper, a four-dimensional coordinated path planning algorithm for multiple UAVs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatia...In this paper, a four-dimensional coordinated path planning algorithm for multiple UAVs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatial Refined Voting Mechanism(SRVM) is designed for standard Particle Swarm Optimization(PSO) to overcome the defects of local optimal and slow convergence.For each generation candidate particle positions are recorded and an adaptive cube is formed with own adaptive side length to indicate occupied regions. Then space voting begins and is sorted based on voting results, whose centers with bigger voting counts are seen as sub-optimal positions. The average of all particles of corresponding dimensions are calculated as the refined solutions. A time coordination method is developed by generating specified candidate paths for every UAV, making them arrive the same destination with the same time consumption. A spatial-temporal collision avoidance technique is introduced to make collision free. Distance to destination is constructed to improve the searching accuracy and velocity of particles. In addition, the objective function is redesigned by considering the obstacle and threat avoidance, Estimated Time of Arrival(ETA), separation maintenance and UAV self-constraints. Experimental results prove the effectiveness and efficiency of the algorithm.展开更多
This research focuses on trajectory generation algorithms that take into account the stealthiness of autonomous UAVs;generating stealthy paths through a region laden with enemy radars. The algorithm is employed to est...This research focuses on trajectory generation algorithms that take into account the stealthiness of autonomous UAVs;generating stealthy paths through a region laden with enemy radars. The algorithm is employed to estimate the risk cost of the navigational space and generate an optimized path based on the user-specified threshold altitude value. Thus the generated path is represented with a set of low-radar risk waypoints being the coordinates of its control points. The radar-aware path planner is then approximated using cubic B-splines by considering the least radar risk to the destination. Simulated results are presented, illustrating the potential benefits of such algorithms.展开更多
In this paper, a novel algorithm based on disturbed fluid and trajectory propagation is developed to solve the three-dimensional（3-D） path planning problem of unmanned aerial vehicle（UAV） in static environment.Fir...In this paper, a novel algorithm based on disturbed fluid and trajectory propagation is developed to solve the three-dimensional（3-D） path planning problem of unmanned aerial vehicle（UAV） in static environment.Firstly, inspired by the phenomenon of streamlines avoiding obstacles, the algorithm based on disturbed fluid is developed and broadened.The effect of obstacles on original fluid field is quantified by the perturbation matrix, where the tangential matrix is first introduced.By modifying the original flow field, the modified one is then obtained, where the streamlines can be regarded as planned paths.And the path proves to avoid all obstacles smoothly and swiftly, follow the shape of obstacles effectively and reach the destination eventually.Then, by considering the kinematics and dynamics equations of UAV, the method called trajectory propagation is adopted to judge the feasibility of the path.If the planned path is unfeasible, repulsive and tangential parameters in the perturbation matrix will be adjusted adaptively based on the resolved state variables of UAV.In most cases, a flyable path can be obtained eventually.Simulation results demonstrate the effectiveness of this method.展开更多
Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controllin...Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph （PH） curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.展开更多
基金supported by the National Natural Science Foundation of China(72571094,72271076,71871079)。
文摘Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.
基金supported by the Special Project forKey Fields of Ordinary Universities in Guangdong Province(Number:2023ZDZX1076).
文摘Efficient flight path design for unmanned aerial vehicles(UAVs)in urban environmental event monitoring remains a critical challenge,particularly in prioritizing high-risk zones within complex urban landscapes.Current UAV path planning methodologies often inadequately account for environmental risk factors and exhibit limitations in balancing global and local optimization efficiency.To address these gaps,this study proposes a hybrid path planning framework integrating an improved Ant Colony Optimization(ACO)algorithm with an Orthogonal Jump Point Search(OJPS)algorithm.Firstly,a two-dimensional grid model is constructed to simulate urban environments,with key monitoring nodes selected based on grid-specific environmental risk values.Subsequently,the improved ACO algorithm is used for global path planning,and the OJPS algorithm is integrated to optimize the local path.The improved ACO algorithm introduces the risk value of environmental events,which is used to direct the UAV to the area with higher risk.In the OJPS algorithm,the path search direction is restricted to the orthogonal direction,which improves the computational efficiency of local path optimization.In order to evaluate the performance of the model,this paper utilizes the metrics of the average risk value of the path,the flight time,and the number of turns.The experimental results demonstrate that the proposed improved ACO algorithm performs well in the average risk value of the paths traveled within the first 5 min,within the first 8 min,and within the first 10 min,with improvements of 48.33%,26.10%,and 6.746%,respectively,over the Particle Swarm Optimization(PSO)algorithm and 70.33%,19.08%,and 10.246%,respectively,over theArtificial Rabbits Optimization(ARO)algorithm.TheOJPS algorithmdemonstrates superior performance in terms of flight time and number of turns,exhibiting a reduction of 40%,40%and 57.1%in flight time compared to the other three algorithms,and a reduction of 11.1%,11.1%and 33.8%in the number of turns compared to the other three algorithms.These results highlight the effectiveness of the proposed method in improving the UAV’s ability to respond efficiently to urban environmental events,offering significant implications for the future of UAV path planning in complex urban settings.
基金This project is supported by National Science Foundation for Young Scientists of China(61701322)the Key Projects of Liaoning Natural Science Foundation(20170540700)+3 种基金the Key Projects of Liaoning Provincial Department of Education Science Foundation(L201702)Liaoning Natural Science Foundation(201502008,20102175)the Program for Liaoning Excellent Talents in University(LJQ2012011)the Liaoning Provincial Department of Education Science Foundation(L201630).
文摘Path planning algorithm is the key point to UAV path planning scenario.Many traditional path planning methods still suffer from low convergence rate and insufficient robustness.In this paper,three main methods are contributed to solving these problems.First,the improved artificial potential field(APF)method is adopted to accelerate the convergence process of the bat’s position update.Second,the optimal success rate strategy is proposed to improve the adaptive inertia weight of bat algorithm.Third chaos strategy is proposed to avoid falling into a local optimum.Compared with standard APF and chaos strategy in UAV path planning scenarios,the improved algorithm CPFIBA(The improved artificial potential field method combined with chaotic bat algorithm,CPFIBA)significantly increases the success rate of finding suitable planning path and decrease the convergence time.Simulation results show that the proposed algorithm also has great robustness for processing with path planning problems.Meanwhile,it overcomes the shortcomings of the traditional meta-heuristic algorithms,as their convergence process is the potential to fall into a local optimum.From the simulation,we can see also obverse that the proposed CPFIBA provides better performance than BA and DEBA in problems of UAV path planning.
基金supported by the National Natural Sci-ence Foundation of China(No.62102373,No.62273243,and No.62473341)Henan Province Key R&D Project(No.241111210400)Joint Fund Key Project of science and Technology R&D Plan of Henan Province(No.235200810022).
文摘Unmanned aerial vehicle(UAV)path planning plays an important role in power systems.In order to address the challenge in UAV path planning,an improved crested porcupine optimizer(ICPO)combining the Cauchy inverse cumulative distribution function and JAYA algorithm is proposed in this paper.First,the traditional random initialization is replaced by sine chaotic mapping,making the initial population more evenly distributed in the search space and improving the quality of the initial solution.Since the global search ability of the crested porcupine optimizer(CPO)is limited,the Cauchy inverse cumulative distribution strategy is introduced.In addition,as CPO is prone to fall into local optima in later stages,a weighted JAYA-CPO attack strategy is proposed to balance the global exploration and local exploitation,thereby improving the algorithm’s ability to escape from local optima.Finally,ICPO is compared with another 10 algorithms on the cec2017 and cec2020 test sets.The experimental results show that ICPO has excellent competitiveness and optimization performance.The ICPO algorithm is applied to the path planning problem of power inspection UAV and is compared with four algorithms.The results show that the algorithm can generate more feasible path trajectories across two terrains with varying complexity,demonstrating the effectiveness and significance of the ICPO algorithm for UAV power inspection path planning.
基金co-supported by China Scholarship Council (No. 201604000003)the National Natural Science Foundation of China (Nos. U1433203, U1533119 and L142200032)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (No. 61221061)
文摘In this paper, a four-dimensional coordinated path planning algorithm for multiple UAVs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatial Refined Voting Mechanism(SRVM) is designed for standard Particle Swarm Optimization(PSO) to overcome the defects of local optimal and slow convergence.For each generation candidate particle positions are recorded and an adaptive cube is formed with own adaptive side length to indicate occupied regions. Then space voting begins and is sorted based on voting results, whose centers with bigger voting counts are seen as sub-optimal positions. The average of all particles of corresponding dimensions are calculated as the refined solutions. A time coordination method is developed by generating specified candidate paths for every UAV, making them arrive the same destination with the same time consumption. A spatial-temporal collision avoidance technique is introduced to make collision free. Distance to destination is constructed to improve the searching accuracy and velocity of particles. In addition, the objective function is redesigned by considering the obstacle and threat avoidance, Estimated Time of Arrival(ETA), separation maintenance and UAV self-constraints. Experimental results prove the effectiveness and efficiency of the algorithm.
文摘This research focuses on trajectory generation algorithms that take into account the stealthiness of autonomous UAVs;generating stealthy paths through a region laden with enemy radars. The algorithm is employed to estimate the risk cost of the navigational space and generate an optimized path based on the user-specified threshold altitude value. Thus the generated path is represented with a set of low-radar risk waypoints being the coordinates of its control points. The radar-aware path planner is then approximated using cubic B-splines by considering the least radar risk to the destination. Simulated results are presented, illustrating the potential benefits of such algorithms.
基金supported by the National Natural Science Foundation of China (No.61175084)the Program for Changjiang Scholars and Innovative Research Team in University of Ministry of Education of China (No.IRT13004)
文摘In this paper, a novel algorithm based on disturbed fluid and trajectory propagation is developed to solve the three-dimensional（3-D） path planning problem of unmanned aerial vehicle（UAV） in static environment.Firstly, inspired by the phenomenon of streamlines avoiding obstacles, the algorithm based on disturbed fluid is developed and broadened.The effect of obstacles on original fluid field is quantified by the perturbation matrix, where the tangential matrix is first introduced.By modifying the original flow field, the modified one is then obtained, where the streamlines can be regarded as planned paths.And the path proves to avoid all obstacles smoothly and swiftly, follow the shape of obstacles effectively and reach the destination eventually.Then, by considering the kinematics and dynamics equations of UAV, the method called trajectory propagation is adopted to judge the feasibility of the path.If the planned path is unfeasible, repulsive and tangential parameters in the perturbation matrix will be adjusted adaptively based on the resolved state variables of UAV.In most cases, a flyable path can be obtained eventually.Simulation results demonstrate the effectiveness of this method.
文摘Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph （PH） curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.
