Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection

Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection

In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic inspection of large surfaces using computer vision. In this work, we first formulate the inspection path planning problem as an extended travelling salesman problem (TSP) in which both the coverage and obstacle avoidance were taken into account. An enhanced discrete particle swarm optimisation (DPS...

Real-time Path Planning Strategy for UAV Based on Improved Particle Swarm Optimization

Unmanned Aerial Vehicle (UAV) path planning is divided into off-line static path planning and real-time dynamic path planning. The former one is applied to the ideal situation that the terrain has been clear, and there is no unexpected situation in flight. Actually, however, the flight situation is very complex, we have to adopt real-time path planning based on off-line static path planning. To...

A New Particle Swarm Optimization Method for the Path Planning of UAV in 3D Environment PEHLIVANOGLU

Particle swarm optimization (PSO) method is relatively a new population-based intelligence algorithm and exhibits good performance in optimization problems. However, during the optimization process, the particles become more and more similar, and gather into the neighborhood of the best particle in the swarm, which makes the swarm prematurely converged possibly around the local solution. PSO te...

Robot Path Planning Based on Random Coding Particle Swarm Optimization

Mobile robot navigation is to find an optimal path to guide the movement of the robot, so path planning is guaranteed to find a feasible optimal path. However, the path planning problem must be solve two problems, i.e., the path must be kept away from obstacles or avoid the collision with obstacles and the length of path should be minimized. In this paper, a path planning algorithm based on ran...

Enhanced Particle Swarm Optimization