Optimal Path Planning Research Articles

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.

A multi-strategy improved rime optimization algorithm for three-dimensional USV path planning and global optimization

The RIME optimization algorithm (RIME) represents an advanced optimization technique. However, it suffers from issues such as slow convergence speed and susceptibility to falling into local optima. In response to these shortcomings, we propose a multi-strategy enhanced version known as the multi-strategy improved RIME optimization algorithm (MIRIME). Firstly, the Tent chaotic map is utilized to initialize the population, laying the groundwork for global optimization. Secondly, we introduce an adaptive update strategy based on leadership and the dynamic centroid, facilitating the swarm's exploitation in a more favorable direction. To address the problem of population scarcity in later iterations, the lens imaging opposition-based learning control strategy is introduced to enhance population diversity and ensure convergence accuracy. The proposed centroid boundary control strategy not only limits the search boundaries of individuals but also effectively enhances the algorithm's search focus and efficiency. Finally, to demonstrate the performance of MIRIME, we employ CEC 2017 and CEC 2022 test suites to compare it with 11 popular algorithms across different dimensions, verifying its effectiveness. Additionally, to assess the method's practical feasibility, we apply MIRIME to solve the three-dimensional path planning problem for unmanned surface vehicles. Experimental results indicate that MIRIME outperforms other competing algorithms in terms of solution quality and stability, highlighting its superior application potential.

EPPE: An Efficient Progressive Policy Enhancement framework of deep reinforcement learning in path planning

Path planning is a key process in robotics, playing an important role in fields such as autonomous driving and logistic delivery. Our work addresses the dual challenges of training efficiency and composite optimization in path planning using Deep Reinforcement Learning (DRL). We introduce the Efficient Progressive Policy Enhancement (EPPE) framework, which integrates the advantages of sparse rewards, aimed at achieving a globally optimal policy for the agent, with process rewards that provide real-time feedback for the agent’s policy adjustment. This framework not only significantly enhances policy learning efficiency but also effectively resolves the reward coupling issues introduced by process rewards, thereby ensuring the achievement of a globally optimal policy. Within this framework, the initial reward structure incorporates guiding rewards, which are a type of process reward based on conventional path planning algorithms, and assigns significant weights to provide real-time feedback, thereby effectively enhancing the training efficiency. Additionally, the Incremental Reward Adjustment (IRA) model is proposed to progressively increase the reward weights in the composite optimization part. The Fine-tuning Policy Optimization (FPO) model, supporting the IRA model, makes gradual adjustments to the learning rate throughout the entire process. Simulated experiments demonstrate the advantage of our framework in path composite optimization. In static obstacle environments, compared to seven benchmark algorithms, the time and distance to reach the target are improved by at least 10.4%. In mixed obstacle environments, these improvements are at least 19.1% and 18.2%. Additionally, our framework also significantly enhances the training efficiency of DRL.

Enhancement of Harris Hawks optimization applied in path planning for an indoor navigation mobile application

The research focuses on the enhancement of Harris Hawks Optimization (HHO) algorithm in achieving an efficient path planning, specifically in indoor environments. It solves problems encountered in HHO; firstly, the exploration operator of HHO is modified to incorporate the survival of the fittest principle, this ensures a controlled diversity by using an Exponential Ranking selection method. The method aims to guide the algorithm to find a more optimal solution while allowing it to search for alternative paths. Secondly, Linear Path Strategy is used to reduce the number of nodes in the paths, therefore minimizing its length and simplifying trajectories. In addition, Linear Path Strategy aims to create smoother paths and avoid obstacles, improving the overall performance of the algorithm. Lastly, general multi-objective formula is defined to evaluate path length and travel time. Considering these factors established a balanced evaluation metric, which provided a detailed assessment of path quality for scenarios like indoor navigation. Comparative analysis was done, and results highlighted the effectiveness of EHHO in generating better paths, in comparison with Ant Colony Optimization (ACO), Grey Wolf Optimization (GWO), and with the current HHO algorithm. It outperformed the algorithms compared in terms of path length, travel time, and efficiency of the execution, especially in a complex environment. In conclusion, EHHO algorithm showed promising results in providing shorter, faster, and more efficient routes, with potential applications across different domains that requires optimal path planning solutions.

Indoor Localization and Path Planning of Mobile Disinfection and Epidemic Prevention Robot

Introduction: In response to the challenge of autonomous localization and navigation for mobile disinfection robots in unknown environments during the COVID-19 pandemic based on the existing patent technology of mobile robots, a localization and navigation approach combining the Cartographer-Simultaneous Localization and Mapping (SLAM) algorithm, an improved A* algorithm, and the Dynamic Window Approach (DWA) has been proposed, enabling effective disinfection and prevention work. Method: First, a comprehensive analysis of two laser SLAM algorithm frameworks, Gmapping- SLAM and Cartographer-SLAM, was conducted, which determined the Cartographer algorithm as the optimal SLAM algorithm for the mobile disinfection robot due to its superior performance. Second, an improved A* algorithm was developed based on its principles and integrated with the DWA algorithm for optimal path planning. Result: Simulation and prototype experiments demonstrated that the proposed approach effectively solved the autonomous localization and navigation challenges faced by mobile disinfection robots in unknown environments, enabling successful disinfection and prevention tasks. Conclusion: The proposed approach has the potential to lead to new patent applications in this field.

Non-Cutting Moving Toolpath Optimization with Elitist Non-Dominated Sorting Genetic Algorithm-II

Path planning (PP) is fundamental in the decision-making and control processes of computer numerical control (CNC) machines, playing a critical role in smart manufacturing research. Apart from improving optimization in PP, enhancing efficiency while decreasing CNC machine cycle time is important in manufacturing. Many methods have been offered in the literature to improve the cycle time for obtaining optimal trajectories in toolpath optimization, but these methods are mostly considered for improvements in path length or machining time in optimal PP. This study demonstrates a method for creating a smoothing path. It aims to minimize both cycle time and toolpath length, while demonstrating that the non-dominated sorting genetic algorithm (NSGA-II) is efficient in addressing the multi-objective PP problems within static situations. Pareto optimality for performance comparisons with multi-objective genetic algorithms (MOGAs) is presented in order to highlight the positive features of the non-dominant solving generated by the NSGA-II. According to the comprehensive analysis results, the optimization of the path carried out with the NSGA-II emphasizes its shorter and smoother attributes, with the optimal trajectory achieving approximately 30% and 7% reductions in path length and machining cycle time, respectively.

The application of CNN in Smart city management and supervision under the background of Smart city

Intelligent transportation management, as an important component of intelligent city supervision, has practical value in improving the effectiveness of urban management. To improve the efficiency of intelligent city traffic management, this study proposes to use convolutional neural networks to improve the performance of navigation and intelligent transportation networks in intelligent transportation. This network is used for vehicle recognition in navigation to predict road congestion and determine the optimal driving path. This structure is applied in the intelligent road network to monitor the driving status of vehicles on the road. It is combined with the vehicle networking system to locate abnormal vehicles to achieve intelligent traffic management and supervision. These results confirm that this algorithm achieves a vehicle recognition accuracy of 91.2 % after 96 iterations and completes the recognition process within 163 ms. This algorithm converges to a vehicle positioning accuracy of 82.4 % after 93 iterations and achieves positioning within 277 ms. This algorithm can not only improve the optimal path planning effect of navigation, but also identify abnormal vehicles within 77 ms. Therefore, the proposed algorithm has high practical value in intelligent transportation management.

Minimum dose walking path planning in a nuclear radiation environment based on a modified A* algorithm

An additional cost function for the case with turning points is introduced to the A* algorithm, which can reduce unnecessary turning points. Therefore, the modified A* algorithm consists of three parts: the actual cost function, the estimated cost function, and the turning point cost function. The three functions are normalized so that they can be compared without dimensionality to obtain the optimal path planning in radiation environments. Based on the Geant4 Monte Carlo program, the radiation field model is established and the dose distribution data is obtained. We assign weights to the functions to smooth out the three different cost functions and avoid scenarios in which one function is much greater than the other two. In a small-scale simulation experiment, the path generated by the modified algorithm is consistent with that calculated by the traditional A* method, but the number of turning points is significantly reduced. The modified algorithm takes less time and the cumulative dose on the path is slightly lower. Modified A*, traditional A* and PRM algorithms are used for path planning and comparison in the complex radiation environment of multiple γ sources. The PRM algorithm takes the least computation time to search the path, but the cumulative exposure dose is random. For the path planning of multi-task operation in a radiation field, the cumulative radiation dose of the path planned by the modified A* algorithm is equivalent to that of the traditional A* algorithm, but the modified A* algorithm significantly reduces the number of turning points, the calculation time is significantly shortened, and the execution efficiency is improved. The modified A* algorithm can be used as a reference for path planning for workers in radiation workplaces.

ParallEdge: Exploiting Computing-Mobility Parallelism for Efficient 5G/6G Edge Computing

With the emergence of the 5G/6G communications, edge computing has attracted increasing research interests in recent years. To provide pervasive 5G/6G edge computing services, numerous edge servers are required for service coverage, and the deployment cost can be <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\gt$</tex-math></inline-formula> 10000 times larger than the deployment cost of the 4G infrastructure. To address this fundamental limit, we propose ParallEdge, a deployment scheme that employs mobile edge servers for cost-effective service coverage. ParallEdge is designed based on the observation that the processing delay and server moving delay become comparable in many computing-intensive applications in the 5G/6G edge computing. Unlike the traditional “move-then-process” frameworks, ParallEdge follows a “move-while-processing” paradigm, which exploits the parallelism between task processing and server movement to enable resource sharing among more users. Moreover, with the joint optimization of path planning and task scheduling for multiple mobile servers, the deployment cost for service coverage can be further reduced. We analyze the approximation gap of the proposed algorithm, and conduct extensive simulation experiments based on the real-world application data, and the results show that ParallEdge can significantly reduce deployment cost and improve resource utilization compared to the state-of-the-art schemes.

Neural Tract Avoidance Path-Planning Optimization: Robotic Neurosurgery

Background: We propose a three-dimensional path-planning method to generate optimized surgical trajectories for steering flexible needles along curved paths while avoiding critical tracts in the context of surgical glioma resection. Methods: Our approach is based on an application of the rapidly exploring random tree algorithm for multi-trajectory generation and optimization, with a cost function that evaluates different entry points and uses the information of MRI images as segmented binary maps to compute a safety trajectory. As a novelty, an avoidance module of the critical neuronal tracts defined by the neurosurgeon is included in the optimization process. The proposed strategy was simulated in real-case 3D environments to reach a glioma and bypass the tracts of the forceps minor from the corpus callosum. Results: A formalism is presented that allows for the evaluation of different entry points and trajectories and the avoidance of selected critical tracts for the definition of new neurosurgical approaches. This methodology can be used for different clinical cases, allowing the constraints to be extended to the trajectory generator. We present a clinical case of glioma at the base of the skull and access it from the upper area while avoiding the minor forceps tracts. Conclusions: This path-planning method offers alternative curved paths with which to reach targets using flexible tools. The method potentially leads to safer paths, as it permits the definition of groups of critical tracts to be avoided and the use of segmented binary maps from the MRI images to generate new surgical approaches.

Path Planning Analysis of Mobile Robot with Improved Ant Colony Algorithm

Aiming at the problems of poor convergence and local optimization in path planning using the basic ant colony algorithm, this paper studies an improved ant colony algorithm to enhance the effect of mobile robot path planning. Firstly, the state transition probability of the ant colony algorithm is modified, and the influence of the angle on node selection is increased by adding a new angle index heuristic function. Then, the sorting and elite ant colony algorithm strategies are fused to research a path length difference pheromone update method, improving the efficiency of the ant colony algorithm in planning the optimal path. Finally, through a comparison with the basic ant colony algorithm simulation on MATLAB, the feasibility and effectiveness of the improved ant colony algorithm are verified.

Information-integration-based optimal coverage path planning of agricultural unmanned systems formations: From theory to practice

Industrial information integration engineering (IIIE) is an innovative research subject for analyzing complicated and large-scale systems. Autonomous and efficient path coverage of unmanned systems formations is an important subject of intelligent industrial agriculture. As one typical kind of complicated systems, agricultural unmanned systems formations are urgently required to optimize their operating trajectories. In this paper, an IIIE design for coverage path planning of the agricultural unmanned systems formations is presented as an IIIE application to verify the entire performances with considering the couplings between the formations and the working environment. In this design, one key concept of field-state iteration for information coupling integration is inherited and introduced in detail. Furthermore, its simulation models were developed based on structure (unmanned system agent structure and formation structure), geometry (map model and graph theory), dynamics (unmanned system agent model and formation model), and control (formation coverage path planning, formation control and trajectory recurrence) in the practice environments. The practice results were analyzed to validate the effectiveness of the proposed information integration design. Further, this paper puts forward a coverage path planning scheme for unmanned systems formations based on the rotating beam and improved probability roadmap algorithms, which can maintain 99.8% coverage rate, 0.08% repetition rate, and 0.007% redundant coverage rate while ensuring the optimal time. Then, two types of three-dimensional practice platform software including CarSim and Gazebo, are selected to graft the proposed algorithm into agricultural tractors formation and plant protection UAVs formation respectively, and the feasibility of the algorithm is verified under the condition closest to the real environment. Multiple experimentalresults demonstrate that the algorithm proposed in this paper has superior feasibility for engineering practice.

Adaptive hybrid local–global sampling for fast informed sampling-based optimal path planning

This paper improves the performance of RRT∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$^*$$\\end{document}-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the trade-off between exploration (admissible informed sampling) and exploitation (local sampling) based on online rewards from previous samples. The paper demonstrates that the algorithm is asymptotically optimal and has a better convergence rate than state-of-the-art path planners (e.g., Informed-RRT∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$^*$$\\end{document}) in several simulated and real-world scenarios. An open-source, ROS-compatible implementation of the algorithm is publicly available.

Implementation of PID controller and enhanced red deer algorithm in optimal path planning of substation inspection robots

AbstractIn contemporary power transmission systems, substation monitoring stands as a vital but challenging task. While robotics offers promise in this regard, its potential is still nascent, struggling to replicate human intelligence. This article's core aim was to optimize robot path planning (RPP). Employing the enhanced red deer algorithm (ERDA), we sought to bolster RPP for more efficient substation inspections. The key methods used seem to be modeling, experimentation, comparative analysis, and some elements of data benchmarking to systematically evaluate and validate their proposed technique and models both in simulation and the real world. Research aims to enhance substation inspection effectiveness and bolster the safety of power usage in society. Proposed hybrid approach, combining proportional–integral–derivative (PID) with ERDA (PID–ERDA), underpins an Intelligent Intelligent RPP framework tailored to substation inspections. Examining the PID–ERDA model's performance, it significantly improved path length by 18%–29% and reduced response times by 14%–26% compared with PID or ERDA alone. PID–ERDA consistently achieved optimal solutions in 40–60 trials out of 85, while PID and ERDA managed 20–40 trials with inconsistent optimization. Additionally, it reduced average response times to 17–20 s from 21 to 27 s observed when using PID and ERDA separately. PID–ERDA also demonstrated superior path accuracy, surpassing methods like improved adaptive control algorithm‐feedforward neural network, enhanced unified algorithm‐susceptible‐infected‐removed, and bounded behavior‐particle swarm optimization by 7%–13%. The study affirms that the PID–ERDA model significantly enhances path planning for substation inspections, representing a milestone in RPP for power station inspections within modern power transmission systems. The primary contribution of this research is the significant improvement it brings to RPP for power station inspections, especially in substation monitoring within modern power transmission systems.

Optimizing radiation exposure in dynamic radioactive environments: Dynamic ACO-RRT* path planning algorithm

Abstract Radioactive environments are often dynamic for various reasons, such as the dismantling of nuclear facilities, leakage of radiation sources, and nuclear accidents. Path planning in a dynamic radioactive environment is one of the important issues in radiation protection for nuclear facility workers. In traditional dynamic optimal path planning, there are phenomena, in which the optimal path is not found within the allowable time or the quality of the path searched within the allowable time is low. To solve this problem, we propose a hybrid algorithm that combines meta-heuristic and sample-based algorithms, called dynamic ant colony optimization-rapidly exploring random tree star (ACO-RRT*). A low-level grid optimal path consisting of grid vertices is obtained by the ACO algorithm, and then it is further refined by the RRT* algorithm. At every instant of environmental change, the vertices of the grid optimal path are divided into vertices with and without samples, and new samples are generated only around vertices without samples. Sampling optimization is performed only around the grid optimal path using new samples and already existing samples. Simulations in a virtual radioactive environment showed that the proposed algorithm reduces computational costs and improves the quality of the optimal path compared to traditional algorithms.

Realization of Fuzzy-PI Controller-Based Path Planning of Differential Drive Mobile Robot

This paper uses a cascade-connected fuzzy-PI controller to control the position and speed of a differential drive and four-wheel drive of an autonomous mobile robot for optimal path planning. The angular speed information obtained from the encoder of each motor and the instantaneous position and angle information of the robot were calculated. The angle and position error between the reference points and these values is applied to the fuzzy logic controller as an input signal. The robot angular and linear speed data obtained from the fuzzy logic output were converted into reference speed values with kinematic equations to be applied to the motors. The speed controls of the motors were carried out with a PI controller based on these reference values. The study was performed both as a simulation in the MATLAB program and experimentally in the laboratory environment for one and more reference coordinates. In the experimental study, reference values were sent to the robot via Bluetooth with the Android application designed. At the same time, the instant data of the robot was also collected on the Android device through the same application. These data collected in Excel format were transferred to the computer via e-mail and the graphics were drawn in the MATLAB program. When the results were examined, it was seen that both speed and position control were successfully implemented with the fuzzy-PI controller for optimum path planning of the robot.

Optimizing path planning in mobile robot systems using motion capture technology

Recent advancements in mechatronics and robotics have led to the emergence of a wide range of technologies with potential applications across various industries. This progress has been observed in recent years and is expected to continue as the integration of robots into daily life becomes more widespread. Despite these developments, deploying robots in industrial environments, particularly in assembly operations, still presents several challenges, including effectively distributing skills-based tasks between human and robotic workers. This paper proposes an approach to improve the performance of mobile robot systems for optimal path planning. The technique utilizes motion capture technology to collect real-time data on the robot's movements, generate optimal path planning strategies, and enable remote control and monitoring of the robot's activities. The proposed approach can significantly enhance mobile robot systems' capabilities in various industrial settings. The results of our study demonstrate that the integration of motion capture technology can substantially improve the accuracy and efficiency of path planning in mobile robot systems and enhance their overall performance. A series of experiments demonstrate its effectiveness in generating optimal path-planning strategies while minimizing the risk of collisions and other hazards.