scispace - formally typeset
Journal ArticleDOI

Comparison of Parallel Genetic Algorithm and Particle Swarm Optimization for Real-Time UAV Path Planning

Reads0
Chats0
TLDR
By using a parallel implementation on standard multicore CPUs, real-time path planning for UAVs is possible and a rigorous comparison of the two algorithms shows, with statistical significance, that the GA produces superior trajectories to the PSO.
Abstract
The development of autonomous unmanned aerial vehicles (UAVs) is of high interest to many governmental and military organizations around the world. An essential aspect of UAV autonomy is the ability for automatic path planning. In this paper, we use the genetic algorithm (GA) and the particle swarm optimization algorithm (PSO) to cope with the complexity of the problem and compute feasible and quasi-optimal trajectories for fixed wing UAVs in a complex 3D environment, while considering the dynamic properties of the vehicle. The characteristics of the optimal path are represented in the form of a multiobjective cost function that we developed. The paths produced are composed of line segments, circular arcs and vertical helices. We reduce the execution time of our solutions by using the “single-program, multiple-data” parallel programming paradigm and we achieve real-time performance on standard commercial off-the-shelf multicore CPUs. After achieving a quasi-linear speedup of 7.3 on 8 cores and an execution time of 10 s for both algorithms, we conclude that by using a parallel implementation on standard multicore CPUs, real-time path planning for UAVs is possible. Moreover, our rigorous comparison of the two algorithms shows, with statistical significance, that the GA produces superior trajectories to the PSO.

read more

Citations
More filters
Journal ArticleDOI

Analysis of Firefly–Fuzzy Hybrid Algorithm for Navigation of Quad-Rotor Unmanned Aerial Vehicle

Brijesh Patel, +1 more
TL;DR: A hybrid model was developed by using the firefly algorithm and the fuzzy algorithm, establishing multiple features of the individual controller, and the results of the controller were validated by simulation and experimental results, highlighting the advantages of the hybrid controller over the single controller.
Journal ArticleDOI

Approximate 3D Euclidean Shortest Paths for Unmanned Aircraft in Urban Environments

TL;DR: A fast algorithm that finds collision-free 3D paths for unmanned aircraft in urban environments by using a method to reduce the number of obstacles taken into account in the path finding process that is very competitive both in terms of speed and solution quality.
Journal ArticleDOI

ARPS: An Autonomic Resource Provisioning and Scheduling Framework for Cloud Platforms

TL;DR: In this paper , the authors proposed a framework called Autonomic Resource Provisioning and Scheduling (ARPS) framework, which has the decision-making capability to schedule the jobs at the best resources within the deadline and optimize both the execution time and the cost simultaneously.
Journal ArticleDOI

Robust Evolutionary Optimal Tolerance Design for Machining Variables of Surface Grinding Process

TL;DR: A Taguchi sliding-based differential evolution algorithm with orthogonal array (TDEOA) is proposed for solving tolerance design problems and the performance of the proposed TDEOA is compared with those of other nature-inspired optimization approaches.
Journal ArticleDOI

Trajectory Planning for Improving Vision-Based Target Geolocation Performance Using a Quad-Rotor UAV

TL;DR: A novel method to improve the target location accuracy through imaging it from an aircraft by improving estimation accuracy of heading angle bias and then to improve geolocation performance is described.
References
More filters
Proceedings ArticleDOI

Particle swarm optimization

TL;DR: A concept for the optimization of nonlinear functions using particle swarm methodology is introduced, and the evolution of several paradigms is outlined, and an implementation of one of the paradigm is discussed.
Journal ArticleDOI

An Introduction to Genetic Algorithms.

TL;DR: An Introduction to Genetic Algorithms as discussed by the authors is one of the rare examples of a book in which every single page is worth reading, and the author, Melanie Mitchell, manages to describe in depth many fascinating examples as well as important theoretical issues.
Journal ArticleDOI

Algorithm for computer control of a digital plotter

TL;DR: An algorithm is given for computer control of a digital plotter that may be programmed without multiplication or division instructions and is efficient with respect to speed of execution and memory utilization.
Book

Introduction to Flight

TL;DR: Introduction to Flight 6e Chapter 1: The First Aeronautical Engineers Chapter 2: Fundamental Thoughts Chapter 3: The Standard Atmosphere Chapter 4: Basic Aerodynamics Chapter 5: Airfoils, Wings, and Other Aerodynamics Shapes
Journal ArticleDOI

A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV

TL;DR: A new optimization algorithm called multi-frequency vibrational genetic algorithm (mVGA) that can be used to solve the path planning problems of autonomous unmanned aerial vehicles (UAVs) is significantly improved.
Related Papers (5)