Three-dimensional path planning for unmanned aerial vehicles using glowworm swarm optimization algorithm

被引:48
作者
Pandey P. [1 ]
Shukla A. [1 ]
Tiwari R. [1 ]
机构
[1] Robotics and Intelligent System Design Lab, Indian Institute of Information Technology and Management, Gwalior
关键词
Glowworm swarm optimization; Meta-heuristics; Path planning; Robotics; Swarm intelligence;
D O I
10.1007/s13198-017-0663-z
中图分类号
学科分类号
摘要
Robot path planning is a task to determine the most viable path between a source and destination while preventing collisions in the underlying environment. This task has always been characterized as a high dimensional optimization problem and is considered NP-Hard. There have been several algorithms proposed which give solutions to path planning problem in deterministic and non-deterministic ways. The problem, however, is open to new algorithms that have potential to obtain better quality solutions with less time complexity. The paper presents a new approach to solving the 3-dimensional path planning problem for a flying vehicle whose task is to generate a viable trajectory for a source point to the destination point keeping a safe distance from the obstacles present in the way. A new algorithm based on discrete glowworm swarm optimization algorithm is applied to the problem. The modified algorithm is then compared with Dijkstra and meta-heuristic algorithms like PSO, IBA and BBO algorithm and their performance is compared to the path optimization problem. © 2017, The Society for Reliability Engineering, Quality and Operations Management (SREQOM), India and The Division of Operation and Maintenance, Lulea University of Technology, Sweden.
引用
收藏
页码:836 / 852
页数:16
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