Collaborative Scheduling of Algorithms for Path Planning of Unmanned Systems

Abstract

Background: Unmanned systems have been widely used in multiple fields. Many algorithms have been proposed to solve path planning problems. Each algorithm has its advantages and defects and cannot adapt to all kinds of requirements. An appropriate path planning method is needed for various applications. Objective: To select an appropriate algorithm swiftly in the given application. This could be helpful for improving the efficiency of path planning for unmanned systems. Methods: This paper proposes to represent and quantify the features of algorithms based on the physical indicators of results. At the same time, an algorithmic collaborative scheme is developed to search the appropriate algorithm according to the requirement of the application. As an illustration of the scheme, four algorithms, including the A-star (A*) algorithm, reinforcement learning, genetic algorithm, and ant colony optimization algorithm, are implemented in the representation of their features. Results: In different simulations, the algorithmic collaborative scheme can select an appropriate algorithm in a given application based on the representation of algorithms. And the algorithm could plan a feasible and effective path. Conclusion: An algorithmic collaborative scheme is proposed, which is based on the representation of algorithms and requirement of the application. The simulation results prove the feasibility of the scheme and the representation of algorithms.