Path Planning of Multirotor UAV Based on the Improved Ant Colony Algorithm

نویسندگان

چکیده

Path planning is an important part of the unmanned aerial vehicle (UAV) to realize its autonomous capabilities. Aiming at shortcomings traditional ant colony algorithm-based trajectory method, which has slow convergence speed and easy fall into local optimum, a path method based on improved algorithm proposed. First, dynamic adjusting factor added heuristic function improve directivity selection search speed. Then, state transition strategy solve problem in initial stage optimum later stage. Finally, inflection point smoothly optimized through cubic B-spline curve. Simulation results show that can quickly converge optimal well adapt flight requirements multirotor UAV.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Optimization Planning based on Improved Ant Colony Algorithm for Robot

As the ant colony algorithm has the defects in robot optimization path planning such as that low convergence cause local optimum, an improved ant colony algorithm is proposed to apply to the planning of path finding for robot. This algorithm uses the search way of exhumation ant to realize the complementation of advantages and accelerate the convergence of algorithm. The experimental result sho...

متن کامل

Welding Path Planning of welding Robot Based on Improved Ant Colony Algorithm

The basic ant colony algorithm in the welding robot path planning, in the search process, prone to search for too long, low efficiency, easy to fall into the local optimal and other issues. In this paper, the basic ant colony algorithm is improved, and the Adadelta algorithm is introduced. By combining the basic ant colony algorithm and Adadelta algorithm, the probability of selecting the next ...

متن کامل

Two-Dimension Path Planning Method Based on Improved Ant Colony Algorithm

Nowadays, path planning has become an important field of research focus. Considering that the ant colony algorithm has numerous advantages such as the distributed computing and the characteristics of heuristic search, how to combine the algorithm with two-dimension path planning effectively is much important. In this paper, an improved ant colony algorithm is used in resolving this path plannin...

متن کامل

Robot Global Path Planning Based on an Improved Ant Colony Algorithm

Aiming at the disadvantages of the basic ant colony algorithm, this paper proposes an improved ant colony algorithm for robot global path planning. First, adjust the pheromone evaporation rate dynamically to enhance the global search ability and convergence speed, and then modify the heuristic function to improve the state transition probabilities in order to find the optimal solution as quickl...

متن کامل

Ant Colony Based Path Planning Algorithm for Autonomous Robotic Vehicles

The requirement of an autonomous robotic vehicles demand highly efficient algorithm as well as software. Today’s advanced computer hardware technology does not provide these types of extensive processing capabilities, so there is still a major space and time limitation for the technologies that are available for autonomous robotic applications. Now days, small to miniature mobile robots are req...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of Robotics

سال: 2022

ISSN: ['1687-9600', '1687-9619']

DOI: https://doi.org/10.1155/2022/2168964