Optimal Path Planning Research Articles

Optimal path planning for unmanned aerial vehicles in power line inspection in rechargeable scenario

To address the issue that a single charge of UAVs (Unmanned Aerial Vehicles) do not satisfy task requirements, this paper proposes a solution involving the deployment of charging stations in the mission area. An energy-efficient path planning method is designed for UAVs with charging stations, which simultaneously determines the deployment locations and quantities of charging stations. The method formulates the energy optimization path planning problem of UAVs as an integer linear programming and an algorithm based on greedy strategy is designed for solving the model. A numerical example including simulations across various scenarios demonstrate that the proposed method can search a more energy-efficient paths compared to single-agent multi-sortie schemes with a greedy strategy. This research contributes to the development of intelligent and autonomous UAV systems for power line inspection, enhancing grid reliability and safety.

Energy optimal path planning for wheeled mobile robots with circular obstacle

AbstractThe energy optimal motion planning algorithm for a differential drive robot with a circular obstacle in the maneuver space is introduced in this article. Rather than the traditional unicycle model, a non‐canonical state space model of the kinematics of a wheeled mobile robot is used to formulate the optimal control problem. The necessary conditions for optimality are formally derived using calculus of variations, resulting in constraints for the costates when the inequality constraint become active, revealing that the controls are required to be continuous. The optimality conditions permit decomposing the motion planning problem in two independent segments: prior to and after activation of the inequality constraints. Analytical expressions for the evolving states and control are found to be a function of Jacobi elliptic functions, permitting reducing the optimal control problem to a root‐finding problem. A comprehensive parametric study is included to demonstrate the impact on the optimal trajectories by varying the radius of the obstacle. The study shows that there are three distinct maneuver strategies with respect to the size of the obstacle. Furthermore, by including entering and exit time as optimization variables, a methodology for generalizing the development to any given motion scenario is developed and numerically illustrated.

Optimal Trajectory Planning for Wheeled Robots (OTPWR): A Globally and Dynamically Optimal Trajectory Planning Method for Wheeled Mobile Robots

In recent years, with the widespread application of indoor inspection robots, efficient motion planning has become crucial. Addressing the issue of discontinuous and suboptimal robot trajectories resulting from the independent nature of global and local planning, we propose a novel optimal path-planning method for wheeled mobile robots. This method leverages differential flatness to reduce dimensionality and decouple the problem, achieving globally optimal, collision-free paths in a two-dimensional flat output space through diagonal search and polynomial trajectory optimization. Comparative experiments in a simulated environment demonstrate that the proposed improved path search algorithm reduces search time by 46.6% and decreases the number of visited nodes by 43.1% compared to the original algorithm. This method not only ensures the optimal path and efficient planning but also ensures that the robot’s motion trajectory satisfies the dynamic constraints, verifying the effectiveness of the proposed optimal path planning algorithm for wheeled mobile robots.

Retraction Note: Optimal path planning and data simulation of emergency material distribution based on improved neural network algorithm

Retraction Note: Optimal path planning and data simulation of emergency material distribution based on improved neural network algorithm

Machine learning-assisted wire arc additive manufacturing and heat input effect on mechanical and corrosion behaviour of 316 L stainless steels

Predicting the track forming factor or height-to-width ratio (H/W) in wire arc additive manufacturing is crucial for optimal path planning, heat distribution, structural integrity, distortion control, process efficiency, and defect prevention, ensuring high-quality and reliable components. Different analytical and numerical modeling methods have been introduced to predict the H/W ratio. However, the accuracy of these predictions is relatively low due to the challenges associated with handling complex and non-linear regression equations. This study addressed the challenges by implementing data-driven predictive modeling to predict the H/W ratio from the input process parameters. A stacking ensemble learning approach is employed, where a meta-model integrates predictions from multiple base learners to enhance overall performance. The model performance was evaluated by Coefficient of determination (R2), mean squared error (MSE), and mean absolute error (MAE). The model was validated by comparing the experimental and predicted values based on which five thin walls are printed with different heat inputs. The study also explores the impact of heat input on microstructure, mechanical, and corrosion properties. The findings indicate that a significantly low heat input (178 J/mm) and higher heat inputs (> 356 J/mm) decrease the wire utilization. With increasing heat input, ferrite content increases, microstructures become coarser, dendritic spacing increases, and ferrite transitions from lathy to skeletal. Further, lower heat input (235 J/mm) reduces δ-ferrite, suppresses atomic segregation, and increases Cr and Mo in the matrix. YS and UTS decrease with higher heat inputs, anisotropy decreases, and Vickers microhardness drops from 228 (178 J/mm) to 194 Hv (586 J/mm). Additionally, the corrosion resistance deteriorates with increasing heat input, as evidenced by higher pitting potential (Epit: 0.389 V vs. 0.368 V vs. −0.023 V) and lower corrosion current density (Icorr: 6.76 ×10−7 A/cm2 vs. 7.946 ×10−7 A/cm2 vs. 8.91 ×10−7 A/cm2) for heat inputs of 235 J/mm, 281 J/mm, and 356 J/mm, respectively.

Optimization of the mobile robot's path searching based on the A-star algorithm

Notable has been the rapid development of artificial intelligence in recent years, with mobile robots being widely applied in various fields. Greatly facilitating people's daily lives, research on robots has received widespread attention. The obstacle avoidance capability of mobile robots is an important indicator of their intelligence. This article utilizes the A-star algorithm. It optimizes the robot's movement path. The A-star algorithm is characterized by balancing the actual cost from the starting point to the current node with the estimated cost from the endpoint to the current node. This algorithm incorporates elements of both Dijkstra's algorithm and greedy search. By being guided by a heuristic function, A-star efficiently approaches the target point, ensuring optimal path planning. This paper focuses on optimizing the A-star algorithm, enhancing both node expansion during path exploration and search time for paths as the robot navigates through a maze.

An Intelligent Cockpit Tailored Carpet for Human‐Vehicle Interaction Enhancement and Driving Intention Recognition

AbstractIn the realm of intelligent cockpits, the predominant emphasis on enhancing driving safety and comfort through human‐vehicle interaction and driving behavior monitoring has conventionally centered on the upper body of the driver. Regrettably, the wealth of information inherent in the lower half of the driver's body, particularly the feet, tends to be systematically underestimated by researchers. A specialized intelligent carpet tailored for automotive cockpits that integrates sponge‐based triboelectric sensor to monitor driver's foot movement is proposed. The intelligent carpet contains two areas, namely the human‐vehicle interaction sensing area and the driving intention monitoring area. With the human‐vehicle interaction sensing area, the driver can interact with the vehicle through the left foot, resulting in reducing the occupation of visual resources and hand load. Furthermore, the driving intention monitoring area supported by the right foot can effectively identify driver's intentions and driver's behaviors, which are essential to trajectory prediction, optimal path planning, and driving safety. It is demonstrated that an intelligent carpet is potentially useful for human‐vehicle interaction, and transportation optimization and accident prevention.

Multi-area collision-free path planning and efficient task scheduling optimization for autonomous agricultural robots

Collision-free path planning and task scheduling optimization in multi-region operations of autonomous agricultural robots present a complex coupled problem. In addition to considering task access sequences and collision-free path planning, multiple factors such as task priorities, terrain complexity of farmland, and robot energy consumption must be comprehensively addressed. This study aims to explore a hierarchical decoupling approach to tackle the challenges of multi-region path planning. Firstly, we conduct path planning based on the A* algorithm to traverse paths for all tasks and obtain multi-region connected paths. Throughout this process, factors such as path length, turning points, and corner angles are thoroughly considered, and a cost matrix is constructed for subsequent optimization processes. Secondly, we reformulate the multi-region path planning problem into a discrete optimization problem and employ genetic algorithms to optimize the task sequence, thus identifying the optimal task execution order under energy constraints. We finally validate the feasibility of the multi-task planning algorithm proposed by conducting experiments in an open environment, a narrow environment and a large-scale environment. Experimental results demonstrate the method's capability to find feasible collision-free and cost-optimal task access paths in diverse and complex multi-region planning scenarios.

Optimal path planning using bidirectional rapidly-exploring random tree star-dynamic window approach (BRRT*-DWA) with adaptive Monte Carlo localization (AMCL) for mobile robot

Path planning is an important task for mobileF service robots. Most of the available path-planning algorithms are applicable only in static environments. Achieving path planning becomes a difficult task in an unknown, dynamic environment. To solve the path planning problem in an unknown dynamic environment, this paper proposes a Bidirectional Rapidly-exploring Random Tree Star-Dynamic Window Approach (BRRT*-DWA) algorithm with Adaptive Monte Carlo Localization (AMCL). Bidirectional Rapidly-exploring Random Tree Star(BRRT*) is used to generate an optimal global path plan, Dynamic Window Approach(DWA) is a local planner and Adaptive Monte Carlo Localization(AMCL) is used as a localization technique. The robot can navigate using the map file of the unknown environment created by Simultaneous Localization And Mapping (SLAM) and the data from the Light Detection and Ranging (LiDAR) sensor while avoiding dynamic and static obstacles. In addition, the object identification algorithm You Only Look Once (YOLO) was adopted, trained, and used for the robot to recognize objects and people. Results obtained from both simulation and experiment show the proposed method can achieve better performance in a dynamic environment compared with other state-of-the-art algorithms.

An Efficient Approach for Shortest Path Planning in Automotive Navigation System

Emerging automotive engineering solutions extensively rely on navigation tools. Shortest path evaluation is core competency of optimal path planning, one of the most critical component of any navigation application. Fibonacci heap variant of state-of-the-art Dijkstra’s algorithm solve single source shortest path problems in asymptotic O(E + V log V) worst-case time. In spite Fibonacci heap is theoretically dominant in time efficiency, it might not work much better empirically with real-world data, because although large and intricate, the real-world road network graphs are sparse and the graph topology greatly affects the performance of the algorithms. SGO algorithm, a more efficient approch to address single source shortest path problem, is applied to solve optimal path planning problem in automotive navigation applications. Each road segment of the road graph leads to a particular location thus will hold unique distance values all the time. The SGO calculates the total distance from start location to the end of the each road segment and evaluates shortest path based on these calculations. The SGO algorithm and the Fibonacci and Binary heap variants of Dijkstra’s algorithm were tested on real-world intercity and intra-city road network graphs to evaluate running time efficiency of the algorithms in automotive navigation systems. The experimental results show that the SGO algorithm outperformed both the variants. The empirical superiority of the SGO algorithm suggests its usefulness in automotive navigation systems.

Multi-constraint improved RS path planning method for unmanned rice direct seeding machine

Path planning is one of the key technologies that determines the efficiency and quality of field operations using autonomous agricultural machinery. To date, there has been extensive research on global coverage path planning for unmanned agricultural machinery within the working area; however, the issue of “encircling and edging” left by the machinery during headland turns is often overlooked. This study focuses on the operational conditions of unmanned agricultural machinery in the rice fields of southern China. The path planning problem is abstracted under physical constraints, such as the space at the field headland, the agricultural environment (e.g., types of field ridges), the turning characteristics of the machinery, turning radius, working width, and minimum safety distance, into mathematical constraints. This yields an optimized path planning model and sequence combination. Based on the improved Reeds–Shepp curve, an en-circling and edging path planning algorithm is designed. The planned path for the unmanned agricultural machinery from start to finish consists only of arcs and straight lines, suitable for the right-angle turning, reversing, and 180° U-turn operations required for rice field machinery, thus significantly improving the coverage of field edges and missed areas at the headland. A rice direct-seeding machine was used as a test subject for encircling and edging field trials, with tests conducted in rectangular, trapezoidal, and irregular quadrilateral rice fields. The results show that, for rectangular plots, the full-field coverage rate of rice direct-seeding operations can reach 96.44%; for trapezoidal plots, the coverage rate is 95.47%; and for irregular quadrilateral fields, the coverage rate is 95.69%. These results are promising, indicating that the encircling and edging path planning based on the improved Reeds–Shepp curve can effectively increase the full-field coverage rate of unmanned agricultural machinery, improving work quality and meeting the needs of modernized, intelligent agricultural machinery operations.

Deep reinforcement learning and ant colony optimization supporting multi‐UGV path planning and task assignment in 3D environments

AbstractWith the development of artificial intelligence, the application of unmanned ground vehicles (UGV) in outdoor hazardous scenarios has received more attention. However, the terrains in these environments are often complex and undulating, which also pose higher challenges to the multi‐UGV path planning and task assignment (MUPPTA) optimization. To efficiently improve the multi‐UGV collaboration in 3D environments, a MUPPTA method is proposed based on double deep Q learning network (DDQN) and ant colony optimization (ACO) to jointly optimize the path planning and task assignment decisions of multiple UGVs. The authors first comprehensively consider the characteristics of the 3D environments, and model the MUPPTA problem as a combinatorial optimization problem. To tackle it, the original problem is decomposed into the multi‐UGV path planning sub‐problem and task assignment sub‐problem, and solve them separately. First, the path planning sub‐problem in the 3D environments is transformed into a Markov decision process (MDP) model, and a multi‐UGV path planning algorithm based on DDQN (MUPP‐DDQN) is proposed to obtain the optimal paths and actual path costs between tasks through extensive offline learning and training. Based on this, a multi‐UGV task assignment algorithm is further proposed based on ACO (MUTA‐ACO) to solve the task assignment sub‐problem and achieve the optimal task assignment solution. Simulation results show that the proposed method is more cost‐effective and time‐saving compared to other comparison algorithms.

Multi-Objective Ship Route Optimisation Using Estimation of Distribution Algorithm

The paper proposes an innovative adaptation of the estimation of distribution algorithm (EDA), intended for multi-objective optimisation of a ship’s route in a non-stationary environment (tidal waters). The key elements of the proposed approach—the adaptive Markov chain-based path generator and the dynamic programming-based local search algorithm—are presented in detail. The experimental results presented indicate the high effectiveness of the proposed algorithm in finding very good quality approximations of optimal solutions in the Pareto sense. Critical for this was the proposed local search algorithm, whose application improved the final result significantly (the Pareto set size increased from five up to nine times, and the Pareto front quality just about doubled). The proposed algorithm can also be applied to other domains (e.g., mobile robot path planning). It can be considered a framework for (simulation-based) multi-objective optimal path planning in non-stationary environments.

Multiple unmanned ship coverage and exploration in complex sea areas

This study addresses the complexities of maritime area information collection, particularly in challenging sea environments, by introducing a multi-agent control model for regional information gathering. Focusing on three key areas—regional coverage, collaborative exploration, and agent obstacle avoidance—we aim to establish a multi-unmanned ship coverage detection system. For regional coverage, a multi-objective optimization model considering effective area coverage and time efficiency is proposed, utilizing a heuristic simulated annealing algorithm for optimal allocation and path planning, achieving a 99.67% effective coverage rate in simulations. Collaborative exploration is tackled through a comprehensive optimization model, solved using an improved greedy strategy, resulting in a 100% static target detection and correct detection index. Agent obstacle avoidance is enhanced by a collision avoidance model and a distributed underlying collision avoidance algorithm, ensuring autonomous obstacle avoidance without communication or scheduling. Simulations confirm zero collaborative failures. This research offers practical solutions for multi-agent exploration and coverage in unknown sea areas, balancing workload and time efficiency while considering ship dynamics constraints.

Simulation-Based Optimization of Path Planning for Camera-Equipped UAVs That Considers the Location and Time of Construction Activities

Automated progress monitoring of construction sites using cameras has been proposed in recent years. Although previous studies have tried to identify the most informative camera views according to 4D BIM to optimize installation plans, video collection using fixed or pan-tilt-zoom cameras is still limited by their inability to adapt to the dynamic construction environment. Therefore, considerable attention has been paid to using camera-equipped unmanned aerial vehicles (CE-UAVs), which provide mobility for the camera, allowing it to fit its field of view automatically to the important parts of the construction site while avoiding occlusions. However, previous studies on optimizing video collection with CE-UAV are limited to the scanning of static objects on construction sites. Given the growing interest in construction activities, the existing methods are inadequate to meet the requirements for the collection of high-quality videos. In this study, the following requirements for and constraints on collecting construction-activity videos have been identified: (1) the FOV should be optimized to cover the areas of interest with the minimum possible occlusion; (2) the path of the UAV should be optimized to allow efficient data collection on multiple construction activities over a large construction site, considering the locations of activities at specific times; and (3) the data collection should consider the requirements for CV processes. Aiming to address these requirements and constraints, a method has been proposed to perform simulation-based optimization of path planning for CE-UAVs to allow automated and effective collection of videos of construction activities based on a detailed 4D simulation that includes a micro-schedule and the corresponding workspaces. This method can identify the most informative views of the workspaces and the optimal path for data capture. A case study was developed to demonstrate the feasibility of the proposed method.

Entertainment robots based on swarm intelligence algorithm applied in remote dance performances

With the continuous development of technology, the application of entertainment robots in the field of dance performances is receiving increasing attention. This article focuses on the application of entertainment robots based on swarm intelligence algorithms in remote dance performances, aiming to design an intelligent dance performance control system to achieve precise and smooth dance performances of robots. The study introduces the basic artificial fish swarm algorithm and combines it with mobile robot path planning, proposing a mobile robot path planning method based on swarm intelligence algorithm. By simulating the behavior of fish in schools, the optimization of path planning is achieved. The control system process of the entertainment robot intelligent dance performance control system includes preparation work before the dance performance, data transmission and dance posture control during the performance process, and post performance organization work. The experiment verified the effectiveness and reliability of the intelligent dance performance control system for entertainment robots. The experimental results show that the system can achieve precise, smooth, and diverse dance performances, providing a novel and interesting form of dance performance for the audience.

A Review of Improved Methods for Ant Colony Optimization in Path Planning

_ Ant colony optimization is an intelligent evolutionary algorithm that has been widely used in the field of path planning, and the research on its improved methods is proliferating. In this paper, the improvement methods of single and hybrid ant colony optimization in path planning are reviewed in terms of initial pheromone concentration, heuristic function, state transition rule, pheromone update rule, and parameter optimization, respectively. The future research directions of ant colony optimization have been prospected in terms of theoretical aspects, parameter setting and optimization, integration with other algorithms, and multiobjectives. Keywords ant colony optimization; path planning; single ant colony optimization; hybrid ant colony optimization; improvement methods

A Fusion Approach for UAV Onboard Flight Trajectory Management and Decision Making Based on the Combination of Enhanced A* Algorithm and Quadratic Programming

The rapid advancement of unmanned aerial vehicle (UAV) technologies has led to an increasing demand for UAV operations in low-altitude, high-density, and complex airspace such as mountains or urban areas. In order to handle complex scenarios and ensure flight safety for UAVs with different flight missions beyond visual line of sight in such environments, a fusion framework of onboard autonomous flight trajectory management and decision-making system using global strategical path planning and local tactical trajectory optimization combination is proposed in this paper. The global strategical path planning is implemented by an enhanced A* algorithm under the multi-constraint of UAV positioning uncertainty and obstacle density to improve the safety and cost-effectiveness. The local tactical trajectory optimization is realized using quadratic programming to ensure smoothness, kinematic feasibility, and obstacle avoidance of the planned trajectory in dynamic environments. Receding-horizon control is used to ensure the flight path and trajectory planning efficiently and seamlessly. To assess the performance of the system, a terrain database and a navigation system are employed for environment and navigation performance simulation. The experimental results confirm that the fusion approach can realize better safety and cost-effectiveness through path planning with kino-dynamic feasible trajectory optimization.

Optimization of robotic path planning and navigation point configuration based on convolutional neural networks.

This study introduces a novel approach for enhancing robotic path planning and navigation by optimizing point configuration through convolutional neural networks (CNNs). Faced with the challenge of precise area coverage and the inefficiency of traditional traversal and intelligent algorithms (e.g., genetic algorithms, particle swarm optimization) in point layout, we proposed a CNN-based optimization model. This model not only tackles the issues of speed and accuracy in point configuration with Gaussian distribution characteristics but also significantly improves the robot's capability to efficiently navigate and cover designated areas with high precision. Our methodology begins with defining a coverage index, followed by an optimization model that integrates polygon image features with the variability of Gaussian distribution. The proposed CNN model is trained with datasets generated from systematic point configurations, which then predicts optimal layouts for enhanced navigation. Our method achieves an experimental result error of <8% on the test dataset. The results validate effectiveness of the proposed model in achieving efficient and accurate path planning for robotic systems.

Nonlinear crossing strategy-based particle swarm optimizations with time-varying acceleration coefficients

In contemporary particle swarm optimization (PSO) algorithms, to efficiently explore global optimum solutions, it is common practice to set the inertia weight to monotonically decrease over time for stability, while allowing the two acceleration coefficients, representing cognitive and social factors, to adopt decreasing or increasing functions over time, including random variations. However, there has been little discussion on a unified design approach for these time-varying acceleration coefficients. This paper presents a unified methodology for designing monotonic decreasing or increasing functions to construct nonlinear time-varying inertia weight and two acceleration coefficients in PSO, along with a control strategy for exploring global optimum solutions. We first construct time-varying coefficients by linearly amplifying well-posed monotonic functions that decrease or increase over normalized time. Here, well-posed functions ensure satisfaction of specified conditions at the initial and terminal points of the search process. However, many of the functions employed thus far only satisfy well-posedness at either the initial or terminal points of the search time, prompting the proposal of a method to adjust them to virtually meet specified initial or terminal points. Furthermore, we propose a crossing strategy where the developed cognitive and social acceleration coefficients intersect within the search time interval, effectively guiding the search process by pre-determining crossing values and times. The performance of our Nonlinear Crossing Strategy-based Particle Swarm Optimization (NCS-PSO) is evaluated using the CEC2014 (Congress on Evolutionary Computation in 2014) benchmark functions. Through comprehensive numerical comparisons and statistical analyses, we demonstrate the superiority of our approach over seven conventional algorithms. Additionally, we validate our approach, particularly in a drone navigation scenario, through an example of optimal 3D path planning. These contributions advance the field of PSO optimization techniques, providing a robust approach to addressing complex optimization problems.