Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/81195
PIRA download icon_1.1View/Download Full Text
Title: Intelligent beetle antennae search for UAV sensing and avoidance of obstacles
Authors: Wu, Q
Shen, X
Jin, Y
Chen, Z
Li, S 
Khan, AH 
Chen, D
Issue Date: 2019
Source: Sensors (Switzerland), 2019, v. 19, no. 8, 1758
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.
Keywords: MTS
Obstacle avoidance
Optimization algorithms
Path planning
UAVs
Publisher: Molecular Diversity Preservation International (MDPI)
Journal: Sensors (Switzerland) 
ISSN: 1424-8220
DOI: 10.3390/s19081758
Rights: © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
The following publication Wu, Q.; Shen, X.; Jin, Y.; Chen, Z.; Li, S.; Khan, A.H.; Chen, D. Intelligent Beetle Antennae Search for UAV Sensing and Avoidance of Obstacles. Sensors 2019, 19, 1758 is available at https://doi.org/10.3390/s19081758
Appears in Collections:Journal/Magazine Article

Files in This Item:
File Description SizeFormat 
Wu_Intelligent_beetle_antennae.pdf10.5 MBAdobe PDFView/Open
Open Access Information
Status open access
File Version Version of Record
Access
View full-text via PolyU eLinks SFX Query
Show full item record

Page views

99
Last Week
1
Last month
Citations as of Mar 24, 2024

Downloads

69
Citations as of Mar 24, 2024

SCOPUSTM   
Citations

75
Citations as of Mar 28, 2024

WEB OF SCIENCETM
Citations

59
Citations as of Mar 28, 2024

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.