Differential evolution with multi-strategies for UAV trajectory planning and point cloud registration

Abstract

The present study introduces a novel adaptive algorithm, MELSHADE-cnEpSin, which aims to enhance the performance of LSHADE-cnEpSin, which is not only stands out as one of the most competitive versions of differential evolution but also holds the distinction of being one of the CEC winner algorithms. Compared to the original methodology, four main distinctions are presented. To begin with, we adopt an adaptive selection mechanism (ASM) of crossover rate Cr value based on the external archive to rechoose a suitable value. In the next place, a nonlinear population reduction strategy using Sigmoid function is employed to improve population distribution. Additionally, a restart strategy is implemented to mitigate the risk of algorithmic convergence towards suboptimal solutions. Furthermore, the performance of MELSHADE-cnEpSin was evaluated using standard CEC2017 and CEC2022 test suites in conjunction with nine CEC-winning algorithms (L-SHADE, EBOwithCMAR, AGSK, LSHADE-SPACMA, LSHADE-cnEpSin, ELSHADE-SPACMA, EA4eig, MadDE and APGSK-IMODE) as well as two novel algorithms (ACD-DE and MIDE). Furthermore, MELSHADE-cnEpSin was effectively employed to address the challenge of UAV trajectory planning in intricate mountainous terrain and underwent simulation with point cloud registration cases utilizing a rapid global registration dataset, thereby showcasing the potential of MELSHADE-cnEpSin in tackling real-world optimization problems.