eprintid: 4436
rev_number: 9
eprint_status: archive
userid: 285
dir: disk0/00/00/44/36
datestamp: 2021-05-31 10:58:19
lastmod: 2021-05-31 10:58:19
status_changed: 2021-05-31 10:58:19
type: article
metadata_visibility: show
creators_name: Phung, Manh Duong
creators_name: Quang, Ha
creators_id: duongpm@vnu.edu.vn
creators_id: quang.ha@uts.edu.au
title: Safety-enhanced UAV Path Planning with Spherical Vector-based Particle Swarm Optimization
ispublished: pub
subjects: Aerospace
subjects: ECE
subjects: IT
subjects: isi
divisions: avitech
divisions: fac_fet
abstract: This paper presents a new algorithm named spherical vector-based particle swarm optimization (SPSO) to deal with the problem of path planning for unmanned aerial vehicles (UAVs) in complicated environments subjected to multiple threats. A cost function is first formulated to convert the path planning into an optimization problem that incorporates requirements and constraints for the feasible and safe operation of the UAV. SPSO is then used to find the optimal path that minimizes the cost function by efficiently searching the configuration space of the UAV via the correspondence between the particle position and the speed, turn angle and climb/dive angle of the UAV. To evaluate the performance of SPSO, eight benchmarking scenarios have been generated from real digital elevation model maps. The results show that the proposed SPSO outperforms not only other particle swarm optimization (PSO) variants including the classic PSO, phase angle-encoded PSO and quantum-behave PSO but also other state-of-the-art metaheuristic optimization algorithms including the genetic algorithm (GA), artificial bee colony (ABC), and differential evolution (DE) in most scenarios. In addition, experiments have been conducted to demonstrate the validity of the generated paths for real UAV operations. Source code of the algorithm can be found at https://github.com/duongpm/SPSO.
date: 2021-08
date_type: published
publisher: Elsevier
official_url: https://doi.org/10.1016/j.asoc.2021.107376
id_number: 10.1016/j.asoc.2021.107376
full_text_status: public
publication: Applied Soft Computing
volume: 107
pagerange: 107376-107376
refereed: TRUE
issn: 1568-4946
citation:   Phung, Manh Duong and Quang, Ha  (2021) Safety-enhanced UAV Path Planning with Spherical Vector-based Particle Swarm Optimization.  Applied Soft Computing, 107 .   p. 107376.  ISSN 1568-4946     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/4436/1/PSO_UAV_PathPlanning.pdf