Hybrid PSO-HSA and PSO-GA algorithm for 3D path planning in autonomous UAVs
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Hybrid PSO‑HSA and PSO‑GA algorithm for 3D path planning in autonomous UAVs B. Abhishek1 · S. Ranjit1 · T. Shankar1 · Geoffrey Eappen1 · P. Sivasankar2 · A. Rajesh1 Received: 18 April 2020 / Accepted: 6 September 2020 © Springer Nature Switzerland AG 2020
Abstract Unmanned aerial vehicles (UAVs) are a quintessential example of automation in the field of avionics. UAVs provide a platform for performing a wide variety of tasks, but in each case the concept of path planning plays an integral role. It helps to generate a pathway free of obstacles, having minimum length leading to lesser fuel consumption, lesser traversal time and helps in steering the aircraft and its corresponding antenna power signature safely around the hostile antenna to avoid detection. To optimize path planning to incorporate all the above-mentioned constraints, this paper presents two new hybrid algorithms particle swarm optimization (PSO) with harmony search algorithm and PSO with genetic algorithm. The hybrid algorithms perform both an exploratory and exploitative search, unlike the existing algorithms which are biased, towards either an exploitative search or an exploratory search. Furthermore, the hybrid algorithms are compared to the existing optimization algorithms and in all cases the hybrid algorithms give a minimum of 7% better result against PSO with up to a 40% better result against Invasive Weed optimization algorithm for a fixed computational time, suggesting better real-time applications. Keywords Unmanned aerial vehicles · Particle swarm optimization · Harmony search algorithm · Genetic algorithm · Optimization · Path planning
1 Introduction The use of the unmanned aerial vehicle (UAV) dates back to 1849, they were first used by Austrians solely for military purposes, that is, for bombing and reconnaissance. And the decades following the 1849 bombing of the Italian city of Venice by Austrians saw an increase of interest in the field of UAV. Several nations including the USA and Russia invested heavily in the technology leading to widespread technological advancement in the field of UAV. It was no more just a remote-controlled unreliable, expensive robot for the purpose of ferrying goods, with the introduction of semi-automation it became a state-of-the-art device, with its application ranging from military utility to farming. The UAVs became known for low cost, optimum size and additional manoeuverability owing to absence of manual
pilot. To carry forward the technical evolution of an UAV, the concept of path planning was introduced, making UAV automated, helping them function efficiently, without being under human surveillance. Hence making manual controller redundant. Path planning is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement. Path planning is classified either as local path planning or global path planning. In a local path planning, a robot navigates through the world map with obst
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