TY - GEN
T1 - Multiple paths planning for UAVs using particle swarm optimization with sequential niche technique
AU - Cai, Qisheng
AU - Long, Teng
AU - Wang, Zhu
AU - Wen, Yonglu
AU - Kou, Jiaxun
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - Multiple paths planning of unmanned aerial vehicles is a typical multimodal optimization problem. This paper presents a particle swarm optimization algorithm combined with sequential niche technique to solve this problem. The sequential niche technique adjusts the objective function value of the surrounding area of minimum to ensure the diversity of multiple optimizations. The surrounding area of the minimum found by particle swarm optimization in the search domain is described as niche. The objective function value in the niche is adaptively modified to reject the particles from the niche in subsequent iterations. Besides, a novel method to determine the niche radius is proposed for multiple paths planning. Furthermore, the distance calculation method between two paths is improved to better distinguish different paths. Finally, the simulation results show that the proposed method can effectively solve multiple paths planning problem.
AB - Multiple paths planning of unmanned aerial vehicles is a typical multimodal optimization problem. This paper presents a particle swarm optimization algorithm combined with sequential niche technique to solve this problem. The sequential niche technique adjusts the objective function value of the surrounding area of minimum to ensure the diversity of multiple optimizations. The surrounding area of the minimum found by particle swarm optimization in the search domain is described as niche. The objective function value in the niche is adaptively modified to reject the particles from the niche in subsequent iterations. Besides, a novel method to determine the niche radius is proposed for multiple paths planning. Furthermore, the distance calculation method between two paths is improved to better distinguish different paths. Finally, the simulation results show that the proposed method can effectively solve multiple paths planning problem.
KW - Particle Swarm Optimization
KW - Path Planning
KW - Sequential Niche Technique
KW - Unmanned Aerial Vehicle
UR - http://www.scopus.com/inward/record.url?scp=84983738200&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2016.7531839
DO - 10.1109/CCDC.2016.7531839
M3 - Conference contribution
AN - SCOPUS:84983738200
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 4730
EP - 4734
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -