Commenced in January 2007
Paper Count: 31108
Three-Dimensional Off-Line Path Planning for Unmanned Aerial Vehicle Using Modified Particle Swarm Optimization
Authors: Lana Dalawr Jalal
Abstract:This paper addresses the problem of offline path planning for Unmanned Aerial Vehicles (UAVs) in complex threedimensional environment with obstacles, which is modelled by 3D Cartesian grid system. Path planning for UAVs require the computational intelligence methods to move aerial vehicles along the flight path effectively to target while avoiding obstacles. In this paper Modified Particle Swarm Optimization (MPSO) algorithm is applied to generate the optimal collision free 3D flight path for UAV. The simulations results clearly demonstrate effectiveness of the proposed algorithm in guiding UAV to the final destination by providing optimal feasible path quickly and effectively.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1109997Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1673
 B. Taati, M. Greenspan, K. Gupta, “A dynamic load-balancing parallel search for enumerative robot path planning,” Journal of Intelligent and Robotic Systems, pp. 47: 55-85, 2006.
 K. Sugihara, J. Smith, “A Genetic Algorithm for 3-D Path Planning of a Mobile Robot,.” white paper, Department of Information and Computer Science, University of Hawaii, Manoa, Honolulu, 1999.
 F. Fahimi, “Autonomous Robots: Modeling, Path Planning, and Control,” Canada: Mechanical Engineering Department University of Alberta, 2008.
 A. Tsourdos, B. White, M. Shanmugavel, “Cooperative Path Planning of Unmanned Aerial Vehicles,” John Wiley & Sons, West Sussex, UK, 2011.
 K.P. Valavanis, “Advances in Unmanned Aerial Vehicles,” State of the Art the Road to Autonomy. Springer, 2007.
 S. Mittal, K. Deb, “Three-dimensional offline path planning for UAVs using multiobjective evolutionary algorithms,” Proceedings of the IEEE Congress on Evolutionary Computation, vol. 7, pp. 3195–3202, 2007.
 Y. Nikolos, N. Tsourveloudis, K. P. Valavanis, “Evolutionary Algorithm Based off-line Path Planner for UAV Navigation,” Automatika, vol. 42, no. 3-4, pp. 143-150, 2001.
 L. D. Jalal, “Modified Particle Swarm Optimization and Modified Genetic Algorithm Approaches for Mobile Robot Navigation - A Comparative Study,” University of Sulaimani, MSc thesis, 2013.
 A. Lazinica, “Particle swarm optimization,” In-Tech, Vienna, Austria, 2009.