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• This paper aims to enhance the optimality and rapidity of three dimensional IoDs. • Monte Carlo simulation is used to compare different CIPSO algorithms. • The proposed algorithm shows improvement in convergence speed and optimal solution. Drones flights have been investigated widely. In the presence of high density and complex missions, collision avoidance among swarm of drones and with environment obstacles becomes a challenging task and indispensable. This paper aims to enhance the optimality and rapidity of three dimensional IoD path generation by improving the particle swarm optimization (PSO) algorithm. The improvements include using chaos map logic to initialize the population of PSO. Also, adaptive mutation is utilized to balance local and global search. Then, the inactive particles are replaced by new fresh particles to push the solution toward global optimal. Furthermore, Monte Carlo simulation is carried out and the results are compared with slandered PSO and with recent work CIPSO. The results exhibit significant improvement in convergence speed as well as optimal solution which prove the ability of proposed method to generate safety path for IoD formation without collision with terrain obstacle and among drones. [ABSTRACT FROM AUTHOR]

Automatic path planning is an essential aspect of unmanned aerial vehicle (UAV) autonomy. This paper presents a three dimensional path planning algorithm based on adaptive sensitivity decision operator combined with particle swarm optimization (PSO) technique. In the proposed method, an adaptive sensitivity decision area is constructed to overcome the defects of local optimal and slow convergence. By using this specified area, the potential particle locations with high probabilities are determined and other candidates are deleted to improve computational capacity. Then the searching space of particles is constrained in a limited boundary to avoid premature state. In addition, the searching accuracy is enhanced by the relative particle directivity from current location. The objective function is redesigned by taking into account the distance to destination and UAV self-constraints. To evaluate the path length, the paired-sample T-Test is performed and the straight line rate ( SLR ) index is introduced. In the two scenarios applied in this paper, our proposed method is 35.4 % , 21.6 % and 49.5 % better compared with other three tested optimization algorithms in the path cost on average. Correspondingly it is 9.6 % , 12.8 % , and 25.3 % better in SLR , which is capable of generating higher quality paths efficiently for UAVs. [ABSTRACT FROM AUTHOR]

To date, a large number of optimization algorithms have been presented for Autonomous Underwater Vehicle (AUV) path planning. However, little effort has been devoted to compare these techniques. In this paper, an quantum-behaved particle swarm optimization (QPSO) algorithm is introduced for solving the optimal path planning problem of an AUV operating in environments with ocean currents. An extensive study of the most important optimization techniques applied to optimize the trajectory for an AUV in several test scenarios is presented. Extensive Monte Carlo trials were also run to analyse the performance of these optimization techniques based on solution quality and stability. The weaknesses and strengths of each technique have been stated and the most appropriate algorithm for AUV path planning has been determined. [ABSTRACT FROM AUTHOR]

Unmanned combat aerial vehicle (UCAV) technology has to address many challenges in complex battlefield environments. To produce a safe and low-energy flying path, a UCAV requires many points to build a path that avoids threats, which increases the problem dimension, consumes more computational resources and makes the results unstable. To address this issue, this paper employs a new model known as double-layer coding (DLC) for path planning with unevenly distributed points to decrease the number of superfluous points on the path. Meanwhile, the RPSO algorithm, which introduces a novel strategy of rotating particles in high-dimensional space to search for targets, is proposed as an enhanced particle swarm optimization (PSO) algorithm. The proposed method effectively improves PSO ′ s exploration capacity. Furthermore, RPSO is employed to implement the double-layer coding model for path planning (DLCRPSO). The experimental results show that the proposed DLCRPSO method for path planning always produces feasible flight paths in complex environments. [Display omitted] • A double-layer coding model for path planning is established. • An improved PSO with a novel exploration strategy is proposed. • The superiority of the double-layer coding model used improved PSO is verified. [ABSTRACT FROM AUTHOR]

This paper aims to give an optimal path planning of a mobile robot in a known indoor environment. An algorithm based on deep learning, ray tracing algorithm, waiting rule, and Rapidly-exploring Random Tree is proposed to solve the problem of obstacle avoidance and path planning. Firstly, GoogLeNet is used to classify obstacles. Here, it helps to distinguish between static and dynamic obstacles. Secondly, for the static obstacle avoidance, the ray tracing algorithm is proposed to avoid the obstacles which are identified by GoogLeNet. And for the dynamic obstacle avoidance, this paper proposed a waiting rule for dynamic obstacle avoidance. Thirdly, the RRT method plans a path from the start point to the goal point. The novelty of this paper is that the type of obstacles is distinguished by deep learning, and the two different kinds of obstacles used ray tracing algorithm and waiting rule to avoid obstacles collision, respectively. In experimental results, rapidly-exploring random tree is compared with genetic algorithm, and particle swarm optimization method in static environment, and it is compared with artificial potential field approach in dynamic environment. Experiments are carried out in the two-dimensional environment and successfully applied to the path planning of mobile robots in multi-obstacles environment, and they prove the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]

This paper considers the unmanned aerial vehicle (UAV) global path planning as an optimization problem with multiple constraints and proposes an improved fireworks algorithm (FWA) and particle swarm optimization (PSO) cooperation algorithm to generate an optimal path. The objective function of the UAV flight path is modeled to have the shortest length satisfying strict multiple threat area constraints. The α constrained method using the level comparison strategy is integrated into both FWA and PSO to enhance their superior constraint-handling ability. To increase the population diversity, the whole population is divided to fireworks and particles, which perform search operation in parallel. A new mutation strategy in the fireworks is adopted to avoid falling into the local optimum. Information sharing mechanism between fireworks and particles is established to make the population achieve the excellent global optimization performance. Several numerical simulations are carried out and the results show that our proposed algorithm performs well in obtaining high quality solutions and handling constraints. [ABSTRACT FROM AUTHOR]

The predictive uncertainty of ocean currents needs to be considered in the path planning of autonomous underwater vehicles (AUV) in oceanic environments. An interval optimization (IO) scheme is presented in this paper to plan time-optimal paths for AUVs operating in oceanic environments with dynamic and uncertain flow fields; interval currents are established to process the uncertainty of forecasted ocean flows, and the IO scheme is used to search for time-optimal paths in the interval current fields. The IO scheme is a two-layer framework: In the outer layer, quantum-behaved particle swarm optimization is used to generate and optimize candidate paths. In the inner layer, the interval response of the candidate path from the outer layer is calculated under interval current fields, and they are converted into a time-optimal fitness value in accordance with the possibility degree of interval numbers. The influence of predictive uncertainty is analyzed via simulation, and the robustness of the IO scheme is verified. • QPSO and interval optimization schemes are introduced for AUV path planning in uncertain, time-varying flow fields. • A two-layer framework algorithm is used to generate the time-optimal paths. • Vector analysis method is applied to compute the interval responses and reduce computational time. • Extensive simulation results to verify reliability of time-optimal paths to forecast errors. [ABSTRACT FROM AUTHOR]