Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization
Abstract
:1. Introduction
2. Related Work
2.1. Basic MOPSO
Algorithm 1. The structure of MOPSO | |||
/*Initialization*/ | |||
Set the iteration count t = 1. | |||
Initialize the location xi and velocities vi of particles randomly, i = 1,2,…,NP. | |||
/*Establish archives*/ | |||
Non-dominated sorting and save non-dominated solutions to archives A. | |||
/*Iteration computation*/ | |||
while t < tmax do | |||
for each particle i do | |||
Update the velocity vi and position xi by Equations (1) and (2). | |||
Update the personal best position xpbest,i. | |||
end for | |||
/*Update archives*/ | |||
| |||
| |||
| |||
t = t + 1. | |||
end while |
2.2. Q-Learning
3. Proposed Modified Algorithm
3.1. Gaussian Based Exploration and Exploitation Update Modes
3.2. Q-Learning Based Mode Selection
3.3. Updating Archives
Algorithm 2. Steps of updating external archives | ||||
/*Input parameters*/ | ||||
The current capacity of external archives m, the maximum capacity of external archives M | ||||
/*Update Archives*/ | ||||
For each particle in current population xi do | ||||
For each particle in the archives xj do | ||||
If xi dominates xj do | ||||
Delete xj from the archives | ||||
End if | ||||
End for | ||||
If xi is not dominated by any solution in the archives do | ||||
Place xi in the archives. | ||||
End if | ||||
End for | ||||
If m > Mdo | ||||
Calculate the crowding distance of all solutions in the archives and arrange them in descending order. | ||||
Delete the solutions with the smaller crowding distance until m = M. | ||||
End if |
3.4. Framework of GMOPSO-QL
3.5. Computing Complexity
4. Path Planning Based on GMOPSO-QL
4.1. Problem Modelling
4.2. GMOPSO-QL for Path Planning
Algorithm 3. GMOPSO-QL based path planning | |||||
/*Input for GMOPSO-QL*/ | |||||
Set maximum iteration number tmax, the number of control points n and parameters λinitial, λfinal, ω, γ. | |||||
/*Initialization*/ | |||||
Set the generation number t = 1. | |||||
Set the initial Q-table: Q(s,a) = 0. | |||||
Initialize the location xi and velocities vi of particles randomly, i = 1,2,...,NP. | |||||
/*Evaluation*/ | |||||
Generate the smooth trajectory Path = {p0, p1, p2, …, pN, pN + 1}. | |||||
Evaluate flight path performance indicators by Equation (8). | |||||
/*Establish archives*/ | |||||
Non-dominated sorting and save non-dominated solutions to archives A. | |||||
/*Iteration computation*/ | |||||
while t < tmax do | |||||
Calculate the learning rate λ by Equation (6). | |||||
for each particle i do | |||||
Choose the best a for the current s from Q-table. | |||||
switch action | |||||
case 1: Exploration update mode | |||||
Update the velocity vi and position xi by Equations (2) and (4) with c11 = 1.5 and c21 = 0.4. | |||||
case 2: Exploitation update mode | |||||
Update the velocity vi and position xi by Equations (2) and (5) with c12 = 0.4 and c22 = 1.5. | |||||
end switch | |||||
for each dimension j do | |||||
if the velocity vi or position xi out of bounds, then limit them by and | |||||
end for | |||||
Update the personal best position xpbest,i. | |||||
Calculate the reward r by Equation (7). | |||||
end for | |||||
Update the Q-table by Equation (3). | |||||
Update the archives A | |||||
t = t +1. | |||||
end while | |||||
/*Output*/ | |||||
Output the best path for UAV. |
5. Simulation Results
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Best | Median | Mean | Worst | Std. | FR(%) | AT (s) | |
---|---|---|---|---|---|---|---|
MOPSO | 137.22 | 169.16 | 176.38 | 293.92 | 34.13 | 70 | 69.38 |
GMOPSO | 151.80 | 194.68 | 215.12 | 399.84 | 50.53 | 96 | 70.54 |
GMOPSO-QL | 126.78 | 160.74 | 172.22 | 350.96 | 44.85 | 100 | 69.40 |
Best | Median | Mean | Worst | Std. | FR(%) | AT (s) | |
---|---|---|---|---|---|---|---|
MOPSO | 193.28 | 218.57 | 219.65 | 295.92 | 19.72 | 82 | 55.43 |
GMOPSO | 196.21 | 214.34 | 221.02 | 342.23 | 24.47 | 98 | 58.86 |
GMOPSO-QL | 189.41 | 206.35 | 210.09 | 261.35 | 14.77 | 98 | 55.02 |
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Xia, S.; Zhang, X. Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization. Actuators 2021, 10, 255. https://doi.org/10.3390/act10100255
Xia S, Zhang X. Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization. Actuators. 2021; 10(10):255. https://doi.org/10.3390/act10100255
Chicago/Turabian StyleXia, Shuang, and Xiangyin Zhang. 2021. "Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization" Actuators 10, no. 10: 255. https://doi.org/10.3390/act10100255