Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical ...Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.展开更多
Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a gro...Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.展开更多
In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking....In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.展开更多
Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. Howe...Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.展开更多
To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on...To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.展开更多
Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Fi...Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.展开更多
This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi...This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.展开更多
Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm ...Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.展开更多
Unmanned aerial vehicles(UAVs),commonly known as drones,have drawn significant consideration thanks to their agility,mobility,and flexibility features.They play a crucial role in modern reconnaissance,inspection,intel...Unmanned aerial vehicles(UAVs),commonly known as drones,have drawn significant consideration thanks to their agility,mobility,and flexibility features.They play a crucial role in modern reconnaissance,inspection,intelligence,and surveillance missions.Coverage path planning(CPP)which is one of the crucial aspects that determines an intelligent system’s quality seeks an optimal trajectory to fully cover the region of interest(ROI).However,the flight time of the UAV is limited due to a battery limitation and may not cover the whole region,especially in large region.Therefore,energy consumption is one of the most challenging issues that need to be optimized.In this paper,we propose an energy-efficient coverage path planning algorithm to solve the CPP problem.The objective is to generate a collision-free coverage path that minimizes the overall energy consumption and guarantees covering the whole region.To do so,the flight path is optimized and the number of turns is reduced to minimize the energy consumption.The proposed approach first decomposes the ROI into a set of cells depending on a UAV camera footprint.Then,the coverage path planning problem is formulated,where the exact solution is determined using the CPLEX solver.For small-scale problems,the CPLEX shows a better solution in a reasonable time.However,the CPLEX solver fails to generate the solution within a reasonable time for large-scale problems.Thus,to solve the model for large-scale problems,simulated annealing forCPP is developed.The results show that heuristic approaches yield a better solution for large-scale problems within amuch shorter execution time than the CPLEX solver.Finally,we compare the simulated annealing against the greedy algorithm.The results show that simulated annealing outperforms the greedy algorithm in generating better solution quality.展开更多
A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the ...A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the robot to avoid obstacles,find the optimal path,and complete automatic charging docking.It maintains the global completeness and path optimality of the RRT algorithmwhile also improving the iteration speed and quality of generated paths in both 2D and 3D path planning.After finding the optimal path,the B-sample curve is used to optimize the rough path to create a smoother and more optimal path.In comparison experiments,the new algorithmyielded reductions of 35.5%,29.2%,and 11.7%in search time and 22.8%,19.2%,and 9%in path length for the 3D environment.Finally,experimental validation of the automatic charging of electric vehicles was conducted to further verify the effectiveness of the algorithm.The simulation experimental validation was carried out by kinematic modeling and building an experimental platform.The error between the experimental results and the simulation results is within 10%.The experimental results show the effectiveness and practicality of the algorithm.展开更多
Workers who conduct regular facility inspections in radioactive environments will inevitably be affected by radiation.Therefore,it is important to optimize the inspection path to ensure that workers are exposed to the...Workers who conduct regular facility inspections in radioactive environments will inevitably be affected by radiation.Therefore,it is important to optimize the inspection path to ensure that workers are exposed to the least amount of radiation.This study proposes a discrete Rao-combined artificial bee colony(ABC)algorithm for planning inspection paths with minimum exposure doses in radioactive environments with obstacles.In this algorithm,retaining the framework of the traditional ABC algorithm,we applied the directional solution update rules of Rao algorithms at the employed bee stage and onlooker bee stage to increase the exploitation ability of the algorithm and implement discretion using the swap operator and swap sequence.To increase the randomness of solution generation,the chaos algorithm was used at the initialization stage.The K-opt operation technique was introduced at the scout bee stage to increase the exploration ability of the algorithm.For path planning in an environment with complex structural obstacles,an obstacle detour technique using a recursive algorithm was applied.To evaluate the performance of the proposed algorithm,we performed experimental simulations in three hypothetical environments and compared the results with those of improved particle swarm optimization,chaos particle swarm optimization,improved ant colony optimization,and discrete Rao’s algorithms.The experimental results show the high performance of the proposed discrete Rao-combined ABC algorithm and its obstacle detour capability.展开更多
This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By us...This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.展开更多
As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative ...As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.展开更多
To explore the influence of path deflection on crack propagation,a path planning algorithm is presented to calculate the crack growth length.The fatigue crack growth life of metal matrix composites(MMCs)is estimated b...To explore the influence of path deflection on crack propagation,a path planning algorithm is presented to calculate the crack growth length.The fatigue crack growth life of metal matrix composites(MMCs)is estimated based on an improved Paris formula.Considering the different expansion coefficient of different materials,the unequal shrinkage will lead to residual stress when the composite is molded and cooled.The crack growth model is improved by the modified stress ratio based on residual stress.The Dijkstra algorithm is introduced to avoid the cracks passing through the strengthening base and the characteristics of crack steps.This model can be extended to predict crack growth length for other similarly-structured composite materials.The shortest path of crack growth is simulated by using path planning algorithm,and the fatigue life of composites is calculated based on the shortest path and improved model.And the residual stress caused by temperature change is considered to improve the fatigue crack growth model in the material.The improved model can well predict the fatigue life curve of composites.By analyzing the fatigue life of composites,it is found that there is a certain regularity based on metal materials,and the new fatigue prediction model can also reflect this regularity.展开更多
To meet the requirements of safety, concealment, and timeliness of trajectory planning during the unmanned aerial vehicle(UAV) penetration process, a three-dimensional path planning algorithm is proposed based on impr...To meet the requirements of safety, concealment, and timeliness of trajectory planning during the unmanned aerial vehicle(UAV) penetration process, a three-dimensional path planning algorithm is proposed based on improved holonic particle swarm optimization(IHPSO). Firstly, the requirements of terrain threat, radar detection, and penetration time in the process of UAV penetration are quantified. Regarding radar threats, a radar echo analysis method based on radar cross section(RCS)and the spatial situation is proposed to quantify the concealment of UAV penetration. Then the structure-particle swarm optimization(PSO) algorithm is improved from three aspects.First, the conversion ability of the search strategy is enhanced by using the system clustering method and the information entropy grouping strategy instead of random grouping and constructing the state switching conditions based on the fitness function.Second, the unclear setting of iteration numbers is addressed by using particle spacing to create the termination condition of the algorithm. Finally, the trajectory is optimized to meet the intended requirements by building a predictive control model and using the IHPSO for simulation verification. Numerical examples show the superiority of the proposed method over the existing PSO methods.展开更多
Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles.In this paper,we propose a novel path pl...Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles.In this paper,we propose a novel path planning algorithm-Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer,Particle swarm optimization(PSO),for fine-tuning and enhancement.In Phase 1,the start and goal trees are initialized at the starting and goal positions,respectively,and the intermediary tree is initialized at a random unexplored region of the search space.The trees were grown until one met the other and then merged and re-initialized in other unexplored regions.If the start and goal trees merge,the first solution is found and passed through a minimization process to reduce unnecessary nodes.Phase 2 begins by feeding the minimized solution from Phase 1 as the global best particle of PSO to optimize the path.After simulating two special benchmark configurations and six practice configurations with special cases,the results of the study concluded that the proposed method is capable of handling small to large,simple to complex continuous environments,whereas it was very tedious for the previous method to achieve.展开更多
In order to improve the reliability of power supply,the sophisticated design of the structure of electric cable network has become an important issue for modern urban distribution networks.In this paper,an electric ca...In order to improve the reliability of power supply,the sophisticated design of the structure of electric cable network has become an important issue for modern urban distribution networks.In this paper,an electric cable path planning model based on heuristic optimization algorithm considering mixed-land scenario is proposed.Firstly,based on different land samples,the kernel density estimation(KDE)and the analytic hierarchy process(AHP)are used to estimate the construction cost of each unit grid,in order to construct the objective function of comprehensive investment for electric cable loop network.Then,the ant colony optimization(ACO)was improved in pheromone concentration,factor increment and search direction to accelerate the solving speed,and the cable path planning result with minimum construction cost is obtained.Finally,the feeder’s tie line of the cable loop network is planned by the genetic algorithm(GA)to achieve the minimum operating cost.In the case analysis,compared with the traditional method,not only the subjective factors in the process of investment estimation can be avoided,but also the speed of model solving and the quality of the optimal solution are improved.展开更多
Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments,such as low intelligence and poor comfort perfor-mance in...Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments,such as low intelligence and poor comfort perfor-mance in the driving process.The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions.In this paper,in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier curve splicing and model predictive control theory are pro-posed.Especially,the maximum trajectory curvature satisfying ride comfort is regarded as an important constraint condition,and the corresponding curvature threshold is utilized to calculate the control points of Bezier curve.By using low-order interpolation curve splicing,the planning computation is reduced,and the real-time performance of planning is improved,com-pared with one-segment curve fitting method.Furthermore,the comfort performance of the planned path is reflected intuitively by the curvature information of the path.Finally,the effectiveness of the proposed control method is verified by the co-simulation platform built by MATLAB/Simulink and Carsim.The simulation results show that the path tracking effect of multi-segment Bezier curve fitting is better than that of high-order curve planning in terms of real-time performance and comfort.展开更多
Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area.One of the simplest and most efficient algorithms,the artificial potenti...Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area.One of the simplest and most efficient algorithms,the artificial potential field algorithm(APF),may provide real-time navigation in those places but fall into local mini-mum in some cases.To overcome this problem and to present alternative escape routes for a robot,possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm.This study utilized a proposed sensor fusion method and an improved object classification method for detecting windows,doors,and stairs in buildings and these objects were classified as valid or invalid for the path planning algorithm.The performance of the approach was evaluated in a simulated environment with a quadrotor that was equipped with camera and laser imaging detection and ranging(LIDAR)sensors to navigate through an unknown closed space and reach a desired goal point.Inclusion of crossing points allows the robot to escape from areas where it is con-gested.The navigation of the robot has been tested in different scenarios based on the proposed path planning algorithm and compared with other improved APF methods.The results showed that the improved APF methods and the methods rein-forced with other path planning algorithms were similar in performance with the proposed method for the same goals in the same room.For the goals outside the current room,traditional APF methods were quite unsuccessful in reaching the goals.Even though improved methods were able to reach some outside targets,the proposed method gave approximately 17%better results than the most success-ful example in achieving targets outside the current room.The proposed method can also work in real-time to discover a building and navigate between rooms.展开更多
A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS sea...A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.展开更多
文摘Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.
文摘Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.
基金supported by the National Natural Science Foundation of China under Grant No.62001199Fujian Province Nature Science Foundation under Grant No.2023J01925.
文摘In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.
基金partly supported by Program for the National Natural Science Foundation of China (62373052, U1913203, 61903034)Youth Talent Promotion Project of China Association for Science and TechnologyBeijing Institute of Technology Research Fund Program for Young Scholars。
文摘Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.
基金supported by the Natural Science Basic Research Prog ram of Shaanxi(2022JQ-593)。
文摘To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.
基金supported by National Natural Science Foundation of China(71904006)Henan Province Key R&D Special Project(231111322200)+1 种基金the Science and Technology Research Plan of Henan Province(232102320043,232102320232,232102320046)the Natural Science Foundation of Henan(232300420317,232300420314).
文摘Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.
基金the National Natural Science Foundation of China(Grant No.42274119)the Liaoning Revitalization Talents Program(Grant No.XLYC2002082)+1 种基金National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(Grant No.2022YFF1400500)the Key Project of Science and Technology Commission of the Central Military Commission.
文摘This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
基金supported by the National Natural Science Foundation of China (61903036, 61822304)Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100)。
文摘Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.
基金funded by Project Number INML2104 under the Interdisci-Plinary Center of Smart Mobility and Logistics,KFUPM.
文摘Unmanned aerial vehicles(UAVs),commonly known as drones,have drawn significant consideration thanks to their agility,mobility,and flexibility features.They play a crucial role in modern reconnaissance,inspection,intelligence,and surveillance missions.Coverage path planning(CPP)which is one of the crucial aspects that determines an intelligent system’s quality seeks an optimal trajectory to fully cover the region of interest(ROI).However,the flight time of the UAV is limited due to a battery limitation and may not cover the whole region,especially in large region.Therefore,energy consumption is one of the most challenging issues that need to be optimized.In this paper,we propose an energy-efficient coverage path planning algorithm to solve the CPP problem.The objective is to generate a collision-free coverage path that minimizes the overall energy consumption and guarantees covering the whole region.To do so,the flight path is optimized and the number of turns is reduced to minimize the energy consumption.The proposed approach first decomposes the ROI into a set of cells depending on a UAV camera footprint.Then,the coverage path planning problem is formulated,where the exact solution is determined using the CPLEX solver.For small-scale problems,the CPLEX shows a better solution in a reasonable time.However,the CPLEX solver fails to generate the solution within a reasonable time for large-scale problems.Thus,to solve the model for large-scale problems,simulated annealing forCPP is developed.The results show that heuristic approaches yield a better solution for large-scale problems within amuch shorter execution time than the CPLEX solver.Finally,we compare the simulated annealing against the greedy algorithm.The results show that simulated annealing outperforms the greedy algorithm in generating better solution quality.
基金This work was supported by National Natural Science Foundation of China(52175236).
文摘A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the robot to avoid obstacles,find the optimal path,and complete automatic charging docking.It maintains the global completeness and path optimality of the RRT algorithmwhile also improving the iteration speed and quality of generated paths in both 2D and 3D path planning.After finding the optimal path,the B-sample curve is used to optimize the rough path to create a smoother and more optimal path.In comparison experiments,the new algorithmyielded reductions of 35.5%,29.2%,and 11.7%in search time and 22.8%,19.2%,and 9%in path length for the 3D environment.Finally,experimental validation of the automatic charging of electric vehicles was conducted to further verify the effectiveness of the algorithm.The simulation experimental validation was carried out by kinematic modeling and building an experimental platform.The error between the experimental results and the simulation results is within 10%.The experimental results show the effectiveness and practicality of the algorithm.
文摘Workers who conduct regular facility inspections in radioactive environments will inevitably be affected by radiation.Therefore,it is important to optimize the inspection path to ensure that workers are exposed to the least amount of radiation.This study proposes a discrete Rao-combined artificial bee colony(ABC)algorithm for planning inspection paths with minimum exposure doses in radioactive environments with obstacles.In this algorithm,retaining the framework of the traditional ABC algorithm,we applied the directional solution update rules of Rao algorithms at the employed bee stage and onlooker bee stage to increase the exploitation ability of the algorithm and implement discretion using the swap operator and swap sequence.To increase the randomness of solution generation,the chaos algorithm was used at the initialization stage.The K-opt operation technique was introduced at the scout bee stage to increase the exploration ability of the algorithm.For path planning in an environment with complex structural obstacles,an obstacle detour technique using a recursive algorithm was applied.To evaluate the performance of the proposed algorithm,we performed experimental simulations in three hypothetical environments and compared the results with those of improved particle swarm optimization,chaos particle swarm optimization,improved ant colony optimization,and discrete Rao’s algorithms.The experimental results show the high performance of the proposed discrete Rao-combined ABC algorithm and its obstacle detour capability.
基金supported in part by the National Natural Science Foundation of China under Grant U2013201in part by the Key R & D projects (Social Development) in Jiangsu Province of China under Grant BE2020704
文摘This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.
基金supported by the National Natural Science Foundation of China(No.51909252)the Fundamental Research Funds for the Central Universities(No.202061004)This work is also partly supported by the China Scholar Council.
文摘As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.
基金National Natural Science Foundation of China(Grant No.51675324)。
文摘To explore the influence of path deflection on crack propagation,a path planning algorithm is presented to calculate the crack growth length.The fatigue crack growth life of metal matrix composites(MMCs)is estimated based on an improved Paris formula.Considering the different expansion coefficient of different materials,the unequal shrinkage will lead to residual stress when the composite is molded and cooled.The crack growth model is improved by the modified stress ratio based on residual stress.The Dijkstra algorithm is introduced to avoid the cracks passing through the strengthening base and the characteristics of crack steps.This model can be extended to predict crack growth length for other similarly-structured composite materials.The shortest path of crack growth is simulated by using path planning algorithm,and the fatigue life of composites is calculated based on the shortest path and improved model.And the residual stress caused by temperature change is considered to improve the fatigue crack growth model in the material.The improved model can well predict the fatigue life curve of composites.By analyzing the fatigue life of composites,it is found that there is a certain regularity based on metal materials,and the new fatigue prediction model can also reflect this regularity.
基金supported by the National Natural Science Foundation of China (61502522)Hubei Provincial Natural Science Foundation(2019CFC897)。
文摘To meet the requirements of safety, concealment, and timeliness of trajectory planning during the unmanned aerial vehicle(UAV) penetration process, a three-dimensional path planning algorithm is proposed based on improved holonic particle swarm optimization(IHPSO). Firstly, the requirements of terrain threat, radar detection, and penetration time in the process of UAV penetration are quantified. Regarding radar threats, a radar echo analysis method based on radar cross section(RCS)and the spatial situation is proposed to quantify the concealment of UAV penetration. Then the structure-particle swarm optimization(PSO) algorithm is improved from three aspects.First, the conversion ability of the search strategy is enhanced by using the system clustering method and the information entropy grouping strategy instead of random grouping and constructing the state switching conditions based on the fitness function.Second, the unclear setting of iteration numbers is addressed by using particle spacing to create the termination condition of the algorithm. Finally, the trajectory is optimized to meet the intended requirements by building a predictive control model and using the IHPSO for simulation verification. Numerical examples show the superiority of the proposed method over the existing PSO methods.
基金funded by International University,VNU-HCM under Grant Number T2021-02-IEM.
文摘Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles.In this paper,we propose a novel path planning algorithm-Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer,Particle swarm optimization(PSO),for fine-tuning and enhancement.In Phase 1,the start and goal trees are initialized at the starting and goal positions,respectively,and the intermediary tree is initialized at a random unexplored region of the search space.The trees were grown until one met the other and then merged and re-initialized in other unexplored regions.If the start and goal trees merge,the first solution is found and passed through a minimization process to reduce unnecessary nodes.Phase 2 begins by feeding the minimized solution from Phase 1 as the global best particle of PSO to optimize the path.After simulating two special benchmark configurations and six practice configurations with special cases,the results of the study concluded that the proposed method is capable of handling small to large,simple to complex continuous environments,whereas it was very tedious for the previous method to achieve.
基金funded by the Science and Technology Project(Project No.kj2020-065)of State Grid Hebei Electric Power Co.,Ltd.
文摘In order to improve the reliability of power supply,the sophisticated design of the structure of electric cable network has become an important issue for modern urban distribution networks.In this paper,an electric cable path planning model based on heuristic optimization algorithm considering mixed-land scenario is proposed.Firstly,based on different land samples,the kernel density estimation(KDE)and the analytic hierarchy process(AHP)are used to estimate the construction cost of each unit grid,in order to construct the objective function of comprehensive investment for electric cable loop network.Then,the ant colony optimization(ACO)was improved in pheromone concentration,factor increment and search direction to accelerate the solving speed,and the cable path planning result with minimum construction cost is obtained.Finally,the feeder’s tie line of the cable loop network is planned by the genetic algorithm(GA)to achieve the minimum operating cost.In the case analysis,compared with the traditional method,not only the subjective factors in the process of investment estimation can be avoided,but also the speed of model solving and the quality of the optimal solution are improved.
基金supported by the National Natural Science Foundation of China(62003062)Chongqing Natural Science Foundation Project(Grant No.cstc2020jcyj-msxmX0803,cstc2020jcyj-msxmX0077)+1 种基金Chongqing Municipal Education Commission Scientific Research Project(Grant No.KJQN202100824)Chongqing Technology and Business University Postgraduate Innovative Scientific Research Project(Grant No.yjscxx2021-122-44).
文摘Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments,such as low intelligence and poor comfort perfor-mance in the driving process.The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions.In this paper,in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier curve splicing and model predictive control theory are pro-posed.Especially,the maximum trajectory curvature satisfying ride comfort is regarded as an important constraint condition,and the corresponding curvature threshold is utilized to calculate the control points of Bezier curve.By using low-order interpolation curve splicing,the planning computation is reduced,and the real-time performance of planning is improved,com-pared with one-segment curve fitting method.Furthermore,the comfort performance of the planned path is reflected intuitively by the curvature information of the path.Finally,the effectiveness of the proposed control method is verified by the co-simulation platform built by MATLAB/Simulink and Carsim.The simulation results show that the path tracking effect of multi-segment Bezier curve fitting is better than that of high-order curve planning in terms of real-time performance and comfort.
文摘Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area.One of the simplest and most efficient algorithms,the artificial potential field algorithm(APF),may provide real-time navigation in those places but fall into local mini-mum in some cases.To overcome this problem and to present alternative escape routes for a robot,possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm.This study utilized a proposed sensor fusion method and an improved object classification method for detecting windows,doors,and stairs in buildings and these objects were classified as valid or invalid for the path planning algorithm.The performance of the approach was evaluated in a simulated environment with a quadrotor that was equipped with camera and laser imaging detection and ranging(LIDAR)sensors to navigate through an unknown closed space and reach a desired goal point.Inclusion of crossing points allows the robot to escape from areas where it is con-gested.The navigation of the robot has been tested in different scenarios based on the proposed path planning algorithm and compared with other improved APF methods.The results showed that the improved APF methods and the methods rein-forced with other path planning algorithms were similar in performance with the proposed method for the same goals in the same room.For the goals outside the current room,traditional APF methods were quite unsuccessful in reaching the goals.Even though improved methods were able to reach some outside targets,the proposed method gave approximately 17%better results than the most success-ful example in achieving targets outside the current room.The proposed method can also work in real-time to discover a building and navigate between rooms.
基金National Natural Science Foundation of China(No.62241503)Natural Science Foundation of Shanghai,China(No.22ZR1401400)。
文摘A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.
