Energy-efficient Path Planning and Control Approach of USV Based on Particle Swarm optimization

An improved chaos particle swarm optimization (CPSO) algorithm is proposed on path planning for unmanned aerial vehicle (UAV) to overcome the inadequacy of particle swarm optimization (PSO) algorithm, which falls into local optimum easily and converges slowly in process with poor precision. Through the in-depth analysis of PSO algorithm, the chaos optimization (CO) algorithm principle is introduced into it based on the traditional update operations on the particles’ velocity and position; as a result, the diversity of particles is increased, the suboptimal search on path planning is avoided and the quickness accompanied with accuracy of convergence is improved. Combined with digital map for modeling the UAV’s flight environment, the 3-D path planning is achieved. As the simulation results demonstrated, this hybrid algorithm is superior to the traditional PSO algorithm on path searching, especially in the 3-D environment.

Six degrees-of-freedom (DoF) robot manipulators are dynamically coupled and highly nonlinear multi-variable systems. Calculating the optimal joint angles from the operational space (i.e. inverse kinematics) and designing the optimal joint controller parameters are two important research topics. This paper proposes a 3-stage Particle Swarm Optimization (PSO)-based methodology for solving the inverse kinematics and optimizing the controller parameters. In the first stage, a PSO algorithm solves the inverse kinematics problem by minimizing a multi-objective cost function in the operational space (i.e. the error in the end-effector’s pose) and therefore finds the optimal joint angles. In the second stage, polynomial functions generate the desired trajectory between the initial and final poses in the joint space. Finally, a second PSO algorithm tunes six proportional-derivative (PD) controllers, one for each joint, to track the desired trajectory by minimizing another multi-objective cost function in the joint space. Two case studies, based on six DoF Puma 560, validate the performance of the proposed methodology. Simulation results show that the proposed 3-stage methodology provides fast and accurate results as the PSO algorithms are effective in solving the inverse kinematics problem and tuning the optimal PD parameters.

Multiple UAVs are usually deployed to provide robustness through redundancy and to accomplish surveillance, search, attack and rescue missions. Formation reconfiguration was inevitable during the flight when the mission was adjusted or the environment varied. Taking the typical formation reconfiguration from a triangular penetrating formation to a circular tracking formation for example, a path planning method based on Dubins trajectory and particle swarm optimization (PSO) algorithm is presented in this paper. The mathematic model of multiple UAVs formation reconfiguration was built firstly. According to the kinematic model of aerial vehicles, a process of dimensionality reduction was carried out to simplify the model based on Dubins trajectory. The PSO algorithm was adopted to resolve the optimization problem of formation reconfiguration path planning. Finally, the simulation and vehicles flight experiment are executed. Results show that the path planning method based on the Dubins trajectory and the PSO algorithm can generate feasible paths for vehicles on time, to guarantee the rapidity and effectiveness of formation reconfigurations. Furthermore, from the simulation results, the method is universal and could be extended easily to the path planning problem for different kinds of formation reconfigurations.

The particle swarm optimization (PSO) algorithm presents a new way for finding optimal solutions of complex optimization problems. In this paper a modified particle swarm optimization algorithm is presented. We modify the PSO algorithm in some aspects. Firstly, a contractive factor is introduced to the position update equation, and the particles are limited in search region. A new strategy for updating velocity is then adopted, in which the velocity is weakened linearly. Thirdly, using an idea of intersecting two modified PSO algorithms. Finally, adding an item of integral control in the modified algorithm can improve its global search ability. Based on these strategies, we proposed a new PSO algorithm named crossed PSO algorithm. Simulation results show that the crossed PSO is superior to the original PSO algorithm and can get overall promising performance over a wide range of problems.

Collaborative beamforming in wireless sensor networks using a novel particle swarm optimization algorithm variant

Neural Network system for SoC is one topic in the world. Recently, SoC began to combine AI technique by Python. When developers consider Intelligent system on SoC, the co-design software and hardware are significant. In this case, small devices and embedded system are target system. For IoT, those techniques will grow up in the world. Those cases, avoiding premature convergence while keeping performance is a challenge in training the neural network, especially in a case of large NNs or a large number of training data. In this case, one problem is a huge memory and processing power. For tiny memory and processing system as SoC, we propose an improved particle swarm optimization (PSO) algorithm called the PSOseed2 algorithm for training NN. The PSOseed2 algorithm solves the premature convergence of the standard PSO (SPSO) algorithm by slightly modifying the velocity update function without adding many computational tasks to the SPSO algorithm. We evaluated this algorithm on field programmable gate array (FPGA)-based NN and software-based NN and trained these NNs with different PSO algorithms that are SPSO, PSOseed, PSOseed2, and dissipative PSO. Experimental results with different datasets confirmed that the NNs trained by the proposed PSOseed2 algorithm had better recognition rates and lower global learning errors than the NN trained by other PSO algorithms. In this talk, I would like to talk those relational research in the world and our results and discussion.

This study explores the application of Particle Swarm Optimization (PSO) in Unmanned Aerial Vehicle (UAV) path planning within a simulated three-dimensional environment. UAVs, increasingly prevalent across various sectors, demand efficient navigation solutions that account for dynamic and unpredictable elements. Traditional pathfinding algorithms often fall short in complex scenarios, hence the shift towards PSO, a bio-inspired algorithm recognized for its adaptability and robustness. We developed a Python-based framework to simulate the UAV path planning scenario. The PSO algorithm was tasked to navigate a UAV from a starting point to a predetermined destination while avoiding spherical obstacles. The environment was set within a 3D grid with a series of waypoints, marking the UAV's trajectory, generated by the PSO to ensure obstacle avoidance and path optimization. The PSO parameters were meticulously tuned to balance the exploration and exploitation of the search space, with an emphasis on computational efficiency. A cost function penalizing proximity to obstacles guided the PSO in real-time decision-making, resulting in a collision-free and optimized path. The UAV's trajectory was visualized in both 2D and 3D perspectives, with the analysis focusing on the path's smoothness, length, and adherence to spatial constraints. The results affirm the PSO's effectiveness in UAV path planning, successfully avoiding obstacles and minimizing path length. The findings highlight PSO's potential for practical UAV applications, emphasizing the importance of parameter optimization. This research contributes to the advancement of autonomous UAV navigation, indicating PSO as a viable solution for real-world path planning challenges.

Path planning algorithms are the most significant area in the robotics field. Path planning (PP) can be defined as the process of determining the most appropriate navigation path before a mobile robot moves. Path planning optimization refers to finding the optimal or near-optimal path. Multi-objective optimization (MOO) is concerned with finding the best solution values that satisfy multiple objectives, such as shortness, smoothness, and safety. MOO present the challenge of making decisions while balancing these contradictory issues through compromise (tradeoff). As a result, there is no single solution appropriate for all purposes in MOO, but rather a range of solutions. Several objectives are considered as part of this study, including path security, length, and smoothness, when planning paths for autonomous mobile robots in a dynamic environment with a moving target. Particle swarm optimization (PSO) algorithms are combined with bat algorithms (BA) to make a balance between exploration and exploitation. PSO algorithms used to optimize two important parameters of the bat algorithm. The proposed solution is tested through several simulations based on varying scenarios. The results demonstrate that mobile robots can travel clearly and safely along short paths and smoothly, proving this method's efficiency.

In order to solve the problem of interaction between multiple evaluation indexes of seed metering performance under multiple factors of centralized seed feeding device, a multi-objective optimization of structure based on particle swarm optimization (PSO) algorithm was proposed in this paper. The wheat centralized seed feeding device was taken as the research object, and the experimental factors were cone angle of type hole, working speed and seed filling gap. The working process of wheat centralized seed feeding device was simulated by discrete element method (DEM). The average seed number of type hole, the variation coefficient of the average seed number of type hole, and the maximum tangential force between seed and seed feeding mechanism were selected as the evaluation indexes. Through the variance analysis of the evaluation indexes by the experimental factors, the optimization objective function was constructed. Using PSO algorithm, the multi-objective optimization was carried out for the wheat centralized seed feeding device. The optimization results show that the best structural combination parameters of the wheat centralized seed feeding device are the hole cone angle of 31.6° and the seed filling gap of 4.6 mm. The validity of the method was verified by simulation and field test. The results show that the PSO algorithm multi-objective optimization method proposed in this paper can provide a reference for the structural improvement and optimal design of the centralized seed feeding device. Keywords: centralized seed feeding device, multi-objective, optimization, PSO algorithm DOI: 10.25165/j.ijabe.20201306.5665 Citation: Wang Q Q, Li Z D, Wang W W, Zhang C L, Chen L Q, Wan L. Multi-objective optimization design of wheat centralized seed feeding device based on particle swarm optimization (PSO) algorithm. Int J Agric & Biol Eng, 2020; 13(6): 76–84.

In our previous research applied to the job shop scheduling problem (JSSP) for machine tool production, the multi-objective optimisation model based on the particle swarm optimization (PSO) research had an imbalance performance between the convergence rate and the convergence precision. In this article, a new hybrid algorithm using PSO and generic algorithm (GA) is proposed to solve this particular problem. In this new algorithm, named hybrid PSO-GA algorithm (HPGA), the PSO algorithm is redefined and modified by introducing genetic operators, i.e. the crossover operator and the mutation operator, to update the particles in the population. The HPGA is then applied in heavy machinery company with minimising machines’ makespan and minimising jobs’ tardiness as the two optimal objectives. The comparisons with actual application report have illustrated that the proposed HPGA can obtain higher quality of schedule solution for machine tool production. Furthermore, with solution quality and convergence rate as the two estimation measurements metrics, some comparisons are performed in order to illustrate that the HPGA has superiority over the PSO, GA and simulated annealing algorithm (SA). Results have indicated that, with the combination of the merits of PSO and GA, the proposed HPGA approach can achieve not only better solution quality but also faster convergence rate than the PSO, GA and SA, within a reasonable computation time for high dimensions JSSP.

The maximum power point tracking (MPPT) system ensures that the solar cell operates at its maximum power point, which is the point at which it produces the most power for a given set of conditions. This study uses an artificial bee colony (ABC) algorithm and particle swarm optimization (PSO) algorithms to optimize the boost converter. The ABC and PSO algorithms help to optimize the boost converter by finding the best possible duty cycle and other parameters that maximize efficiency. The resulting duty cycle of 20% produced the highest efficiency of 78.26% obtained from the boost converter. A system-wide test was conducted between 9:00 and 11:10 WIB. In MPPT systems using boost converters with the PSO algorithm, the average power is 16.80 W, while in MPPT systems using boost converters with the ABC algorithm, the average power is 14.53 W. The novelty of the study discusses a system designed to optimize power by using a boost converter in order to increase power output from solar panels. The algorithms PSO and ABC are used to analyze the data from the PV and adjust the converter parameters to optimize the output in order to increase the efficiency of the system.

In view of the problem of premature convergence of traditional particle swarm optimization (PSO) algorithm in path planning, which is easy to converge to local optimal solution and poor path quality, some theory about the corresponding PSO algorithm of simulated annealing optimization is studied in this paper. While planning the moving path of the robot, it analyzes the effect of initial temperature and cooling coefficient on path length and iteration times from the major contributing factors of simulated annealing algorithm. Thus deduce the law of its change and seek the optimal parameter matching. Simulated annealing algorithm can not only move the updated particle position on the basis of the particle swarm optimization formula, but also select the updated position with a certain probability. The method is used to avoid the particle converging into the local optimal solution in the whole iterative process. The capabilities of the global optimization is strengthened. Compared with the traditional PSO algorithm, the simulated annealing PSO in complex environment has better optimization ability, shorter path and fewer iterations in the simulation results.KeywordsParticle swarmPath planningSimulated annealingLinear inertia weight

A dynamic adaptive particle swarm optimization and genetic algorithm is presented to solve constrained engineering optimization problems. A dynamic adaptive inertia factor is introduced in the basic particle swarm optimization algorithm to balance the convergence rate and global optima search ability by adaptively adjusting searching velocity during search process. Genetic algorithm–related operators including a selection operator with time-varying selection probability, crossover operator, and n-point random mutation operator are incorporated in the particle swarm optimization algorithm to further exploit optimal solutions generated by the particle swarm optimization algorithm. These operators are used to diversify the swarm and prevent premature convergence. Tests on nine constrained mechanical engineering design optimization problems with different kinds of objective functions, constraints, and design variables in nature demonstrate the superiority of the dynamic adaptive particle swarm optimization and genetic algorithm against several other meta-heuristic algorithms in terms of solution quality, robustness, and convergence rate in most cases.

To solve the strong randomicity and slow convergence of the Particle Swarm Optimization(PSO) algorithms, two new particle’s position renewal formulas were analyzed on the basis of extrapolation in mathematics. A new modified PSO algorithms (called Leading PSO algorithms) was put forward. The Direct Torque Control(DTC) System was built in the environment of Matlab(Simulink). The weight and threshold values of BP Neural Network were trained using the modified PSO algorithms. Some disadvantages such as slow convergence speed and easily plunging into the local solution were avoided effectively. The simulation result shows that the system works well, and the rotor speed identifier has great static and dynamic performance.

To improve the simulation accuracy of disease prediction model, a modified hybrid algorithm combining BP neural network (BPNN) with particle swarm optimization (PSO) algorithm based on chaos theory optimization is proposed considering BPNN is easy to fall into the local extremum. The chaos theory is used to optimize PSO algorithm to overcome the premature convergence of the traditional PSO algorithm. Then, the improved CAPSO algorithm is used to train the BPNN, to make full use of the global search characteristic of PSO algorithm and the local search ability of BPNN. The fitness function of the PSO algorithm is used as the energy function, and the optimization method of the improved hybrid algorithm is selected according to the specified number of evolution. An optimized network model was used to predict the prevalence of coronary heart disease. Compared with other algorithms such as BP neural network, the results show that the proposed algorithm has high accuracy and can significantly improve the quality of prediction.