We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Intelligent Beetle Antennae Search for UAV Sensing and Avoidance of Obstacles.
- Authors
Wu, Qing; Shen, Xudong; Jin, Yuanzhe; Chen, Zeyu; Li, Shuai; Khan, Ameer Hamza; Chen, Dechao
- Abstract
Based on a bio-heuristic algorithm, this paper proposes a novel path planner called obstacle avoidance beetle antennae search (OABAS) algorithm, which is applied to the global path planning of unmanned aerial vehicles (UAVs). Compared with the previous bio-heuristic algorithms, the algorithm proposed in this paper has advantages of a wide search range and breakneck search speed, which resolves the contradictory requirements of the high computational complexity of the bio-heuristic algorithm and real-time path planning of UAVs. Besides, the constraints used by the proposed algorithm satisfy various characteristics of the path, such as shorter path length, maximum allowed turning angle, and obstacle avoidance. Ignoring the z-axis optimization by combining with the minimum threat surface (MTS), the resultant path meets the requirements of efficiency and safety. The effectiveness of the algorithm is substantiated by applying the proposed path planning algorithm on the UAVs. Moreover, comparisons with other existing algorithms further demonstrate the superiority of the proposed OABAS algorithm.
- Subjects
DRONE warfare; HEURISTIC algorithms; OBSTACLE avoidance (Robotics); DRONE aircraft; COMPUTATIONAL complexity
- Publication
Sensors (14248220), 2019, Vol 19, Issue 8, p1758
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s19081758