Unmanned Aerial Vehicle Path Research Articles

Distributed planning method for detection array of UAV formation with bearing-only sensor network

Abstract Unmanned aerial vehicle (UAV) formations for bearing-only passive detection are increasingly important in modern military confrontations, and the array of the formation is one of the decisive factors affecting the detection accuracy of the system. How to plan the optimal geometric array in bearing-only detection is a complex nondeterministic polynomial problem, and this paper proposed the distributed stochastic subgradient projection algorithm (DSSPA) with layered constraints to solve this challenge. Firstly, based on the constraints of safe flight altitude and fixed baseline, the UAV formation is layered, and the system model for bearing-only cooperative localisation is constructed and analysed. Then, the calculation formula for geometric dilution of precision (GDOP) in the observation plane is provided, this nonlinear objective function is appropriately simplified to obtain its quadratic form, ensuring that it can be adapted and used efficiently in the system model. Finally, the proposed distributed stochastic subgradient projection algorithm (DSSPA) combines the idea of stochastic gradient descent with the projection method. By performing a projection operation on each feasible solution, it ensures that the updated parameters can satisfy the constraints while efficiently solving the convex optimisation problem of array planning. In addition to theoretical proof, this paper also conducts three simulation experiments of different scales, validating the effectiveness and superiority of the proposed method for bearing-only detection array planning in UAV formations. This research provides essential guidance and technical reference for the deployment of UAV formations and path planning of detection platforms.

Large-Area Coverage Path Planning Method Based on Vehicle–UAV Collaboration

With the widespread application of unmanned aerial vehicles (UAV) in surveying, disaster search and rescue, agricultural spraying, war reconnaissance, and other fields, coverage path planning is one of the most important problems to be explored. In this paper, a large-area coverage path planning (CCP) method based on vehicle–UAV collaboration is proposed. The core idea of the proposed method is adopting a divide-and conquer-strategy to divide a large area into small areas, and then completing efficient coverage scanning tasks through the collaborative cooperation of vehicles and UAVs. The supply points are generated and adjusted based on the construction of regular hexagons and a Voronoi diagram, and the segmentation and adjustment of sub-areas are also achieved during this procedure. The vehicle paths are constructed based on the classical ant colony optimization algorithm, providing an efficient way to traverse all supply points within the coverage area. The classic zigzag CCP method is adopted to fill the contours of each sub-area, and the UAV paths collaborate with vehicle supply points using few switching points. The simulation experiments verify the effectiveness and feasibility of the proposed vehicle–UAV collaboration CCP method, and two comparative experiments demonstrate that the proposed method excels at large-scale CCP scenarios, and achieves a significant improvement in coverage efficiency.

A spherical vector-based adaptive evolutionary particle swarm optimization for UAV path planning under threat conditions

Unmanned aerial vehicle (UAV) path planning is a constrained multi-objective optimization problem. With the increasing scale of UAV applications, finding an efficient and safe path in complex real-world environments is crucial. However, existing particle swarm optimization (PSO) algorithms struggle with these problems as they fail to consider UAV dynamics, resulting in many infeasible solutions and poor convergence to optimal solutions. To address these challenges, we propose a spherical vector-based adaptive evolutionary particle swarm optimization (SAEPSO) algorithm. This algorithm, based on spherical vectors, directly incorporates UAV dynamic constraints and introduces improved tent map and reverse learning to enhance the diversity and distribution of initial solutions. Additionally, dynamic nonlinear and adaptive factors are integrated to balance exploration and exploitation capabilities. To avoid local optima in highly complex environments, we propose an adaptive acceleration strategy for poor particles, and an evolutionary programming strategy is incorporated to further improve the optimization capability. Finally, we conducted comparative studies and in six benchmark scenarios with varying threat levels, and the results demonstrated that the proposed algorithm outperforms others in the initial solution effectiveness, the final solution accuracy, convergence stability, and scalability.

An Intelligent 5G Unmanned Aerial Vehicle Path Optimization Algorithm for Offshore Wind Farm Inspection

In recent years, clean energy has gained increasing attention, with offshore wind power playing a crucial role in global energy production. However, the high operating and maintenance costs of offshore wind farms remain a significant challenge. The advent of 5G technology provides a solution for efficiently monitoring and controlling wind power equipment. The use of 5G unmanned aerial vehicles (UAVs) for blade inspections is a promising development. A key challenge is efficiently planning UAV flight paths for fast and effective inspections in complex offshore environments. To address this problem, we conduct an in-depth study of the 5G UAV path optimization method. In this paper, the UAV inspection path problem is modeled as an obstacle avoidance traveling salesman problem (TSP), taking into full account UAV flight constraints and complex sea environment factors, particularly the impact of sea wind on UAV flight speed. We propose a novel Sea Wind-Aware Improved A*-Guided Genetic Algorithm (SWA-IAGA), which integrates an improved A* algorithm to guide the genetic algorithm for efficient path planning, with the assistance of relevant graphical knowledge. This algorithm overcomes the limitations of traditional single-path planning methods, enabling more accurate and efficient path planning.

Multi-Strategy Improved Red-Tailed Hawk Algorithm for Real-Environment Unmanned Aerial Vehicle Path Planning.

In recent years, unmanned aerial vehicle (UAV) technology has advanced significantly, enabling its widespread use in critical applications such as surveillance, search and rescue, and environmental monitoring. However, planning reliable, safe, and economical paths for UAVs in real-world environments remains a significant challenge. In this paper, we propose a multi-strategy improved red-tailed hawk (IRTH) algorithm for UAV path planning in real environments. First, we enhance the quality of the initial population in the algorithm by using a stochastic reverse learning strategy based on Bernoulli mapping. Then, the quality of the initial population is further improved through a dynamic position update optimization strategy based on stochastic mean fusion, which enhances the exploration capabilities of the algorithm and helps it explore promising solution spaces more effectively. Additionally, we proposed an optimization method for frontier position updates based on a trust domain, which better balances exploration and exploitation. To evaluate the effectiveness of the proposed algorithm, we compare it with 11 other algorithms using the IEEE CEC2017 test set and perform statistical analysis to assess differences. The experimental results demonstrate that the IRTH algorithm yields competitive performance. Finally, to validate its applicability in real-world scenarios, we apply the IRTH algorithm to the UAV path-planning problem in practical environments, achieving improved results and successfully performing path planning for UAVs.

An Improved Human Evolution Optimization Algorithm for Unmanned Aerial Vehicle 3D Trajectory Planning.

To address the challenges of slow convergence speed, poor convergence precision, and getting stuck in local optima for unmanned aerial vehicle (UAV) three-dimensional path planning, this paper proposes a path planning method based on an Improved Human Evolution Optimization Algorithm (IHEOA). First, a mathematical model is used to construct a three-dimensional terrain environment, and a multi-constraint path cost model is established, framing path planning as a multidimensional function optimization problem. Second, recognizing the sensitivity of population diversity to Logistic Chaotic Mapping in a traditional Human Evolution Optimization Algorithm (HEOA), an opposition-based learning strategy is employed to uniformly initialize the population distribution, thereby enhancing the algorithm's global optimization capability. Additionally, a guidance factor strategy is introduced into the leader role during the development stage, providing clear directionality for the search process, which increases the probability of selecting optimal paths and accelerates the convergence speed. Furthermore, in the loser update strategy, an adaptive t-distribution perturbation strategy is utilized for its small mutation amplitude, which enhances the local search capability and robustness of the algorithm. Evaluations using 12 standard test functions demonstrate that these improvement strategies effectively enhance convergence precision and algorithm stability, with the IHEOA, which integrates multiple strategies, performing particularly well. Experimental comparative research on three different terrain environments and five traditional algorithms shows that the IHEOA not only exhibits excellent performance in terms of convergence speed and precision but also generates superior paths while demonstrating exceptional global optimization capability and robustness in complex environments. These results validate the significant advantages of the proposed improved algorithm in effectively addressing UAV path planning challenges.

An Improved Aquila Optimizer with Local Escaping Operator and Its Application in UAV Path Planning

Background: With the development of intelligent technology, Unmanned aerial vehicles (UAVs) are widely used in military and civilian fields. Path planning is the most important part of UAV navigation system. Its purpose is to find a smooth and feasible path from the start to the end. Objective: In order to obtain a better flight path, this paper presents an improved Aquila optimizer combing the opposition-based learning and the local escaping operator, named LEOAO, to deal with the UAV path planning problem in three-dimensional environments. Methods: UAV path planning is modelled as a constrained optimization problem in which the cost function consists of one objective: path length and four constraints: safe distance, flight height, turning angle and climbing/diving angle. In this paper, the LEOAO is introduced to find the optimal path by minimizing the cost function, and B-Spline is invited to represent a smooth path. The local escaping operator is used to enhance the search ability of the algorithm. Results: To test the performance of LEOAO, two scenarios are applied based on basic terrain function. Experiments show that the proposed LEOAO outperforms other algorithms such as the grey wolf optimizer, whale optimization algorithm, including the original Aquila optimizer. Conclusion: The proposed algorithm combines the opposition-based learning and local escaping operator. The opposition-based learning algorithm has the ability to accelerate convergence. And the introduction of LEO effectively balances the exploration and exploitation abilities of the algorithm and improves the quality of the population. Finally, the improved Aquila optimizer obtains a better path.

Path planning and engineering problems of 3D UAV based on adaptive coati optimization algorithm

In response to the challenges faced by the Coati Optimization Algorithm (COA), including imbalance between exploration and exploitation, slow convergence speed, susceptibility to local optima, and low convergence accuracy, this paper introduces an enhanced variant termed the Adaptive Coati Optimization Algorithm (ACOA). ACOA achieves a balanced exploration–exploitation trade-off through refined exploration strategies and developmental methodologies. It integrates chaos mapping to enhance randomness and global search capabilities and incorporates a dynamic antagonistic learning approach employing random protons to mitigate premature convergence, thereby enhancing algorithmic robustness. Additionally, to prevent entrapment in local optima, ACOA introduces an Adaptive Levy Flight strategy to maintain population diversity, thereby improving convergence accuracy. Furthermore, underperforming individuals are eliminated using a cosine disturbance-based differential evolution strategy to enhance the overall quality of the population. The efficacy of ACOA is assessed across four dimensions: population diversity, exploration–exploitation balance, convergence characteristics, and diverse strategy variations. Ablation experiments further validate the effectiveness of individual strategy modules. Experimental results on CEC-2017 and CEC-2022 benchmarks, along with Wilcoxon rank-sum tests, demonstrate superior performance of ACOA compared to COA and other state-of-the-art optimization algorithms. Finally, ACOA’s applicability and superiority are reaffirmed through experimentation on five real-world engineering challenges and a complex urban three-dimensional unmanned aerial vehicle (UAV) path planning problem.

A risk-based unmanned aerial vehicle path planning scheme for complex air-ground environments.

Multifarious applications of unmanned aerial vehicles (UAVs) are thriving in extensive fields and facilitating our lives. However, the potential third-party risks (TPRs) on the ground are neglected by developers and companies, which limits large-scale commercialization. Risk assessment is an efficacious method for mitigating TPRs before undertaking flight tasks. This article incorporates the probability of UAV crashing into the TPR assessment model and employs an A* path-planning algorithm to optimize the trade-off between operational TPR cost and economic cost, thereby maximizing overall benefits. Experiments demonstrate the algorithm outperforms both the best-first-search algorithm and Dijkstra's algorithm. In comparison with the path with the least distance, initially, the trade-off results in a increase in distance while achieving an reduction in TPR. As the trade-off progresses, this relationship shifts, leading to a reduction in the distance with only a negligible increase in TPR by 0.0001, matching the TPR-cost-based algorithm. Furthermore, we conduct simulations on the configuration of UAV path networks in five major cities in China based on real-world travel data and building data. Results reveal that the networks consist of one-way paths that are staggered in height. Moreover, in coastal cities particularly, the networks tend to extend over the sea, where the TPR cost istrivial.

Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions

As an important branch of path planning, coverage path planning (CPP) is widely used for unmanned aerial vehicles (UAVs) to cover target regions with lower energy consumption. Most current works focus on convex regions, whereas others need pre-decomposition to deal with non-convex or mixed regions. Therefore, it is necessary to pursue a concise and efficient method for the latter. This paper proposes a two-stage method named Shrink-Segment by Dynamic Programming (SSDP), which aims to cover mixed regions with limited energy. First, instead of decomposing and then planning, SSDP formulates an optimal path by shrinking the rings for mixed regions. Second, a dynamic programming (DP)-based approach is used to segment the overall path for UAVs in order to meet energy limits. Experimental results show that the proposed method achieves less path overlap and lower energy consumption compared to state-of-the-art methods.

Adaptive Path Planning for Multi-UAV Systems in Dynamic 3D Environments: A Multi-Objective Framework

This study evaluates and compares the computational performance and practical applicability of advanced path planning algorithms for Unmanned Aerial Vehicles (UAVs) in dynamic and obstacle-rich environments. The Adaptive Multi-Objective Path Planning (AMOPP) framework is highlighted for its ability to balance multiple objectives, including path length, smoothness, collision avoidance, and real-time responsiveness. Through experimental analysis, AMOPP demonstrates superior performance, with a 15% reduction in path length compared to A*, achieving an average path length of 450 m. Its angular deviation of 8.0° ensures smoother trajectories than traditional methods like Genetic Algorithm and Particle Swarm Optimization (PSO). Moreover, AMOPP achieves a 0% collision rate across all simulations, surpassing heuristic-based methods like Cuckoo Search and Bee Colony Optimization, which exhibit higher collision rates. Real-time responsiveness is another key strength of AMOPP, with an average re-planning time of 0.75 s, significantly outperforming A* and RRT*. The computational complexities of each algorithm are analyzed, with AMOPP exhibiting a time complexity of O(k·n) and a space complexity of O(n), ensuring scalability and efficiency for large-scale operations. The study also presents a comprehensive qualitative and quantitative comparison of 14 algorithms using 3D visualizations, highlighting their strengths, limitations, and suitable application scenarios. By integrating weighted optimization with penalty-based strategies and spline interpolation, AMOPP provides a robust solution for UAV path planning, particularly in scenarios requiring smooth navigation and adaptive re-planning. This work establishes AMOPP as a promising framework for real-time, efficient, and safe UAV operations in dynamic environments.

Dealing with Multiple Optimization Objectives for UAV Path Planning in Hostile Environments: A Literature Review

As Unmanned Aerial Vehicles (UAVs) are becoming crucial in modern warfare, research on autonomous path planning is becoming increasingly important. The conflicting nature of the optimization objectives characterizes path planning as a multi-objective optimization problem. Current research has predominantly focused on developing new optimization algorithms. Although being able to find the mathematical optimum is important, one also needs to ensure this optimum aligns with the decision-maker’s (DM’s) most preferred solution (MPS). In particular, to align these, one needs to handle the DM’s preferences on the relative importance of each optimization objective. This paper provides a comprehensive overview of all preference handling techniques employed in the military UAV path planning literature over the last two decades. It shows that most of the literature handles preferences by the overly simplistic method of scalarization via weighted sum. Additionally, the current literature neglects to evaluate the performance (e.g., cognitive validity and modeling accuracy) of the chosen preference handling technique. To aid future researchers handle preferences, we discuss each employed preference handling technique, their implications, advantages, and disadvantages in detail. Finally, we identify several directions for future research, mainly related to aligning the mathematical optimum to the MPS.

Determining the direction of movement of the UAVs on the image of the underlying surface map

Problem statement. Unmanned aerial vehicles (UAVs), or drones, have gained popularity over the past decade. The use of autonomous drones appears to be a viable and low-cost solution to problems in many applications. Path planning capabilities are essential for autonomous control systems. An autonomous drone must be able to quickly calculate feasible and energy-efficient routes to avoid collisions. There are many challenges associated with developing a control system for autonomous drones. Several factors are needed for autonomous drone navigation, including decision-making capabilities, path planning, trajectory generation, and fail-safe backup control (in case of disturbances and failures). To achieve this, drones must have the ability to sense and perceive their environment and calculate a path using onboard computers and sensors. In addition, flight navigation controlled by an onboard computer reduces the frequency with which the operator needs to interact with the drone, thereby limiting the possibility of human error. Therefore, a method is needed to plan the shortest and most crash-free path for a UAV to an object in a dense urban environment. Objective. To propose a UAV path planning algorithm based on a sparse surface search algorithm for the shortest and safe driving in urban infrastructure. As well as a joint path planning algorithm for tracking a moving target in an urban environment using both UAVs and unmanned ground vehicles (UGVs). Results. The existing methods and algorithms for UAV trajectory planning are considered. During the comparative analysis, it was found that almost all path planning methods have shortcomings. Path planning algorithms for safe driving are developed based on a dynamic occupancy grid for modeling the target state and using a second-order Markov model to represent the target motion, joint use of UAVs and UGVs. The novelty of the work is that the algorithms take into account visibility impairments due to obstacles in the environment. The algorithm uses a dynamic occupancy grid to model the target state, which is updated based on sensor measurements using a Bayesian filter. The efficiency of the new methods is confirmed by the simulation results in environments with different building heights and different target speeds. The results of the proposed algorithm for different types of models, deterministic and Markov objectives are presented. Practical significance. The presented algorithm allows for trouble-free control of drones in dense urban areas based on the sparse surface search algorithm and dynamic occupancy grid.

A novel hybrid improved dingo algorithm for unmanned aerial vehicle path planning

A novel hybrid improved dingo algorithm for unmanned aerial vehicle path planning

A global dynamic evolution snow ablation optimizer for unmanned aerial vehicle path planning under space obstacle threat

In this paper, an improved Global Dynamic Evolution Snow Ablation Optimizer (GDSAO) is proposed in order to solve the problem of global optimization and Unmanned Aerial Vehicle (UAV) path planning in 3D space with obstacle threats. Three improvement schemes are proposed in GDSAO: (1) Population initialization is carried out using the theory of the best point set to obtain a more diverse initial population; (2) A dynamic snowmelt ratio using the global evolutionary dispersion is proposed to adapt the exploitation process of the original SAO to the evolutionary process of population fitness; (3) A neighborhood dimensional search scheme is proposed to update the locations of all searched individuals outside the elite pool to obtain better population fitness. The algorithm was tested on 30 10-dimensional problems at CEC 2017 and performed better than a series of joint and leading optimization algorithms. The path planning problem of UAV was solved, and the path satisfying all obstacle avoidance threats and corner constraints was obtained. By comparison, GDSAO is superior to the existing algorithms in terms of reliability and stability of optimization.

Late acceptance hill climbing based algorithm for Unmanned Aerial Vehicles (UAV) path planning problem

Late acceptance hill climbing based algorithm for Unmanned Aerial Vehicles (UAV) path planning problem

Composite Improved Algorithm Based on Jellyfish, Particle Swarm and Genetics for UAV Path Planning in Complex Urban Terrain.

Path planning technology is of great consequence in the field of unmanned aerial vehicles (UAVs). In order to enhance the safety, path smoothness, and shortest path acquisition of UAVs undertaking tasks in complex urban multi-obstacle environments, this paper proposes an innovative composite improvement algorithm that integrates the advantages of the jellyfish search algorithm and the particle swarm algorithm. The algorithm effectively overcomes the shortcomings of a single algorithm, including parameter setting issues, slow convergence rates, and a tendency to become trapped in local optima. Additionally, it enhances the path smoothness, which improves the path optimisation. This enhances the capacity of UAVs to optimise their paths in environments characterised by multiple obstacles. To evaluate the practical effectiveness of the algorithm, a three-dimensional complex city model was constructed for the purposes of the study, and an adaptation function was designed for the purpose of evaluation. The experimental evaluation of 23 benchmark functions, the simulation test of the 3D city model, and 100 repetitive experiments demonstrate that the composite improved algorithm has a considerable advantage over the other comparative algorithms regarding performance. It exhibits fast convergence, high accuracy, and both global and local search capabilities, which enable the effective planning of a UAV flight path and the maintenance of good stability. In comparison to traditional algorithms, the composite improved algorithm demonstrably reduces the flight time and the number of obstacle avoidance manoeuvres required by the UAV. It provides robust technical support for the path planning of the UAV in complex urban environments and facilitates the advancement and implementation of related technologies.

Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following

Unmanned Aerial Vehicles (UAVs) have become essential tools in various industries for tasks such as inspection, maintenance, and surveillance. An Online Impedance Adaptive Controller (OIAC) is proposed for the online modulating of UAV control gains to obtain better performance and stability of tracking curved trajectories than the traditional methods, Model Reference Adaptive Controller (MRAC) and Proportional–Integral–Derivative (PID). Two UAV path planners with minimal jerk and snap were integrated into OIAC, MRAC, and PID. These six controllers were implemented and compared in a simulated UAV with perceptional noise, which follows curved pipelines and avoids obstacles. Experimental results show that the OIAC controller achieves at least an 80% improvement over the PID controller across all trajectory types in terms of the trajectory tracking error. Additionally, OIAC demonstrates an over 20% improvement in jerk trajectories and a more than 30% improvement in snap trajectories when compared to the MRAC controller. These results indicate that OIAC offers enhanced trajectory tracking accuracy and robustness against perceptual noise. Our work presents an advanced controller of a UAV and its preliminary validation in accurate and robust path tracking.

Multi-Sensor Fusion and Deep Learning: A New Frontier in Stabilization Algorithm Optimization

The rapid development of automation technology has highlighted the importance of stabilization algorithms in ensuring the stability and functionality of smart devices. These algorithms are critical for maintaining balance and precision, especially in applications such as unmanned aerial vehicles (UAVs), handheld devices, and autonomous systems. This research focuses on the application of stabilization algorithms across various domains, analyzing their principles, advantages, limitations, and potential optimization strategies. The study employs a literature review to investigate the integration of multi-sensor fusion and deep learning techniques to improve system stability. It shows that multi-sensor fusion significantly enhances system robustness by mitigating external disturbances, while deep learning improves autonomous decision-making in dynamic environments, particularly in UAV path planning and task execution. The findings confirm the crucial role of stabilization algorithms in modern systems and provide insights into future optimization directions. By combining deep learning with sensor fusion, future systems are expected to achieve greater stability and autonomy, contributing to the advancement of UAVs and other intelligent systems.

A Shortest Distance Priority UAV Path Planning Algorithm for Precision Agriculture.

Unmanned aerial vehicles (UAVs) have made significant advances in autonomous sensing, particularly in the field of precision agriculture. Effective path planning is critical for autonomous navigation in large orchards to ensure that UAVs are able to recognize the optimal route between the start and end points. When UAVs perform tasks such as crop protection, monitoring, and data collection in orchard environments, they must be able to adapt to dynamic conditions. To address these challenges, this study proposes an enhanced Q-learning algorithm designed to optimize UAV path planning by combining static and dynamic obstacle avoidance features. A shortest distance priority (SDP) strategy is integrated into the learning process to minimize the distance the UAV must travel to reach the target. In addition, the root mean square propagation (RMSP) method is used to dynamically adjust the learning rate according to gradient changes, which accelerates the learning process and improves path planning efficiency. In this study, firstly, the proposed method was compared with state-of-the-art path planning techniques (including A-star, Dijkstra, and traditional Q-learning) in terms of learning time and path length through a grid-based 2D simulation environment. The results showed that the proposed method significantly improved performance compared to existing methods. In addition, 3D simulation experiments were conducted in the AirSim virtual environment. Due to the complexity of the 3D state, a deep neural network was used to calculate the Q-value based on the proposed algorithm. The results indicate that the proposed method can achieve the shortest path planning and obstacle avoidance operations in an orchard 3D simulation environment. Therefore, drones equipped with this algorithm are expected to make outstanding contributions to the development of precision agriculture through intelligent navigation and obstacle avoidance.