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SUMMARYThe current paper presents a path planning method based on probability maps and uses a new genetic algorithm for a group of UAVs. The probability map consists of cells that display the probability which the UAV will not encounter a hostile threat. The probability map is defined by three events. The obstacles are modeled in the probability map, as well. The cost function is defined such that all cells are surveyed in the path track. The simple formula based on the unique vector is presented to find this cell position. Generally, the cost function is formed by two parts; one part for optimizing the path of each UAV and the other for preventing UAVs from collision. The first part is a combination of safety and length of path and the second part is formed by an exponential function. Then, the optimal paths of each UAV are obtained by the genetic algorithm in a parallel form. According to the dimensions of path planning, genetic encoding has two or three indices. A new genetic operator is introduced to select an appropriate pair of chromosome for crossover operation. The effectiveness of the method is shown by several simulations.

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This paper presents an accurate and easy-to-implement algorithm for estimating the parameters of the asymmetric Gaussian chirplet model (AGCM) used for modeling echoes measured in ultrasonic nondestructive testing (NDT) of materials. The proposed algorithm is a combination of particle swarm optimization (PSO) and Levenberg–Marquardt (LM) algorithms. PSO does not need an accurate initial guess and quickly converges to a reasonable output while LM needs a good initial guess in order to provide an accurate output. In the combined algorithm, PSO is run first to provide a rough estimate of the output and this result is consequently inputted to the LM algorithm for more accurate estimation of parameters. To apply the algorithm to signals with multiple echoes, the space alternating generalized expectation maximization (SAGE) is used. The proposed combined algorithm is robust and accurate. To examine the performance of the proposed algorithm, it is applied to a number of simulated echoes having various signal to noise ratios. The combined algorithm is also applied to a number of experimental ultrasonic signals. The results corroborate the accuracy and reliability of the proposed combined algorithm.