3D UAV trajectory planning using evolutionary algorithms: A comparison study

Bagherian, Mehri; Alos, A.

doi:10.1017/s0001924000011246

Cited by 34 publications

(19 citation statements)

References 13 publications

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“…However, the paths generated are, in general, not optimal due to the existence of redundant waypoints. Bagheran and Alos [2] used genetic algorithm (GA) and particle swarm algorithms to generate the path that should be a sequence of speed rate and angles at discrete times, where the cost function was calculated precisely and 3D maps were generated containing the geographic data accompanied by a digital terrain model and a geographical information system. Two approaches were investigated the artificial potential field algorithm (APF) and the genetic algorithm (GA).…”

Section: Introductionmentioning

confidence: 99%

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Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

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In this paper, a method for collision-free three-dimensional autonomous navigation of an underactuated coupled non-holonomic unmanned aerial vehicle (UAV) among obstacles was proposed. This method will be the basis for designing a planner for the UAV trajectory guidance in a 3D cluttered environment. The planner assumes that the cost of flying over an area is independent of the path through which the UAV reaches that area, however this is not always true. Moreover, the path problem is not formulated as a matter of numeric cost minimization to be solved by methods like dynamic programming, which is time-consuming. A dynamic model of six degrees of freedom hexacopter equipped with a robotic arm has been formulated using Newton-Euler's method. Then, the equations of motion of the UAV are derived by including disturbances analysis. The derived dynamic model reflects the real motion of the hexacopter with respect to the earth, which is also characterized by nonlinearity, time variance, underactuation and coupling among the equations' variables. This paper suggests bio-inspired and sample-based algorithms in order to solve and optimize the threedimensional path-planning problem. A unique real-time obstacle avoidance approach based on artificial potential field concept in addition to an off-line genetic algorithm were investigated.

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Section: Introductionmentioning

confidence: 99%

“…The most critical objective is the path length, which can be directly translated to energy and obstacle costs along the path. However, there are researches that take the objectives [2,6,27]. In our study, the UAV path planning is considered as a bi-objective optimization problem in the aim of minimization of both energy cost and obstacle cost.…”

mentioning

confidence: 99%

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

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show abstract

“…During the last decades, many works have been carried out on the design of guidance laws with NFZ constraints, which can be classified into two types: offline path planning methods (7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17) and online guidance laws (18)(19)(20)(21)(22)(23)(24) . Some off-line path planning methods are based on a series of waypoints and then employ path search algorithms to find a feasible trajectory by connecting proper waypoints, such as A* search algorithm, artificial bee colony algorithm (7) , bat algorithm (8) , heuristic algorithm (9) , core paths graph algorithm (10) , Newton iteration scheme (11) or dynamic programming (12) . There are still some methods using the optimal control theories to obtain the optimal reference trajectory (13)(14)(15) .…”

Section: Introductionmentioning

confidence: 99%

“…Some off-line path planning methods are based on a series of waypoints and then employ path search algorithms to find a feasible trajectory by connecting proper waypoints, such as A* search algorithm, artificial bee colony algorithm (7) , bat algorithm (8) , heuristic algorithm (9) , core paths graph algorithm (10) , Newton iteration scheme (11) or dynamic programming (12) . There are still some methods using the optimal control theories to obtain the optimal reference trajectory (13–15) .…”

Section: Introductionmentioning

confidence: 99%

Guidance law for intercepting target with multiple no-fly zone constraints

Zhao

Chen

2017

Aeronaut. j.

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A composite guidance law is proposed for intercepting moving target while strictly satisfying the constraints on multiple No-Fly Zones (NFZs) distributed arbitrarily. The research has two major steps. In the first step, by considering only one NFZ, a guidance law is developed with three parts: Orientation Adjustment Scheme (OAS), Boundary-Constraint Handling Scheme (BCHS), and Proportional Navigation (PN). OAS determines the major flight direction by predicting the collision point of the missile and target. BCHS controls the missile to approach and then fly along the boundary of the NFZ smoothly so as to bypass the NFZ through a short path. PN is used to intercept the target in the endgame phase. In the second step, we use the multi-step decision process to set up a series of appropriate waypoints in order to avoid multiple NFZs. The superior performance of the proposed guidance law has been demonstrated by trajectory simulations.

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“…In the process of spraying operation, the mechanical arm of the spraying robot is around the surface of the workpiece to complete the spiral motion. With selection of the appropriate trajectory [16][17][18][19][20] and parameters in the spray process, production efficiency can be significantly improved. The spraying effect of spraying robot is related to the surface shape of the workpiece, the parameters of the spray gun, and way of the trajectory planning and other parameters.…”

Section: Introductionmentioning

confidence: 99%

Investigation on the Trajectory Planning of Spray Gun of Spray Robot and Its Spraying Effect

Min¹,

Li²

2016

IJSH

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The industrial robot plays a very important role in stabilizing and improving the quality of products, production efficiency, working conditions and the rapid upgrading of products. It is often composed of a mechanical body, control device, driving system and detection and sensing device, and can be used in three-dimensional space to complete integration of automatic production and processing equipment. Spraying robot is one of the most important advanced coating production and processing equipment. It has the advantages of considerable flexibility and wide working scope, high spraying quality and material utilization efficiency. Due to the increasing competition for the market share, it should minimize the cost continually to accomplish the producing process. For the spraying process, how to optimize the trajectory of the spray gun and the spray parameters are the key factors to reduce the material consumption and improve the efficiency. In this paper, the spray gun trajectory and spraying effect are studied, and the experimental results show that the spray trajectory and spray effect are available. The results can also be used in other fields to get better performance.

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3D UAV trajectory planning using evolutionary algorithms: A comparison study

Cited by 34 publications

References 13 publications

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Guidance law for intercepting target with multiple no-fly zone constraints

Investigation on the Trajectory Planning of Spray Gun of Spray Robot and Its Spraying Effect

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