Task allocation and route planning of multiple UAVs in a marine environment based on an improved particle swarm optimization algorithm

Ultra-high performance concrete has excellent mechanical properties such as ultra-high strength and high durability, and has a broad application prospect in the field of bridge engineering. To make full use of the superior mechanical properties of UHPC and reduce the cost of the bridge, the particle swarm optimization algorithm is used to optimize the structural design of the UHPC beam bridge; Aiming at the problem that the traditional particle swarm optimization algorithm is easy to fall into local optimum, the nonlinear adaptive weight update method is used to improve the particle swarm optimization algorithm. Based on the above-mentioned improved particle swarm optimization algorithm, the optimal design method of ordinary reinforced UHPC beams and prestressed UHPC beams with commonly used highway spans is studied. The reliability of the optimized structural limit state is analyzed by Monte Carlo (MC) importance sampling method. The results show that compared with the traditional particle swarm optimization algorithm, the improved particle swarm optimization algorithm has higher convergence speed and convergence accuracy. The optimal height-span ratio of ordinary reinforced UHPC beams decreases with the increase of the span, and the construction cost gradually increases; The optimal height-span ratio of the prestressed beam decreases first and then increases with the increase of the span, and the construction cost gradually increases. The calculation results of load capacity reliability indexes of optimization results are all higher than the target reliability indexes of similar components stipulated in China’s “Uniform Standard for Structural Reliability Design of Highway Engineering”.

Particle swarm optimization (PSO) algorithm has shown some important advantages, but it has a tendency to get stuck in a local optimal solution. This paper presents an improved particle swarm optimization (IPSO) algorithm to improve the performance of traditional PSO, and it is applied to solve the flow shop scheduling problem and compared with GA and traditional PSO algorithm. Experimental results indicate that the IPSO algorithm for FSSP improves the search performance and shows the effectiveness of the algorithm to solve optimization problems.

The paper proposed a network scheduling in cloud computing based on intelligence Particle Swarm Optimization algorithm aimed at the disadvantages of cloud computing network scheduling.Firstly, on the basis of cloud model, used intelligence Particle Swarm Optimization algorithm with strong ability of global searching to find the better solution of cloud computing network scheduling then turned the better solution into the initial pheromone of improved Particle Swarm Optimization algorithm, and found out the cloud computing network scheduling and the algorithm's global optimal solution through improved Particle Swarm Optimization information communications and feedbacks.Finally, made comparison test of the three benchmark function on the basis of MATLAB, the results showed, compared with traditional intelligence Particle Swarm Optimization algorithms, the improved algorithm can preferably allocate the resources in cloud computing model, the effect of prediction model time is more close to actual time, can efficiently limit the possibility of falling into local convergence, the optimal solution's time of objective function value is shorten which meet the user's needs more.

In order to improve the efficiency and reduce energy consumption of unmanned sailing boats for water quality inspection and sampling, particle swarm optimization was used for global path planning. The traditional particle swarm optimization algorithm has the problem of premature convergence because it is easy to fall into the local optimal solution. To solve this problem, an improved particle swarm optimization algorithm is proposed. Based on the traditional particle swarm optimization algorithm, the crossover and mutation operations in genetic algorithm are introduced. Firstly, the particle swarm was initialized and the fitness of the particle was calculated, and the individual optimal value and local optimal value were updated. Then crossover and mutation operations are introduced to update the particle velocity and position according to the results. Finally, the convergence of the algorithm is judged according to the decision criteria. The simulation results show that compared with the traditional particle swarm optimization algorithm, this algorithm can effectively avoid the algorithm falling into the local optimal solution, and greatly shorten the overall path length and reduce path planning time.

In the area of cloud computing load balancing, the Particle Swarm Optimization (PSO) algorithm is neoteric and now praised highly, but recently a more neoteric algorithm which deploys the classifier into load balancing is presented. Besides, an algorithm called red-black tree which is aiming at improving the efficiency of resource dispatching is also praised. But the 3 algorithms all have different disadvantages which cannot be ignored. For example, the dispatch efficiency of PSO algorithm is not satisfying; although classifier and red-black tree algorithm improve the efficiency of dispatching tasks, the performance in load balancing is not that good, as a result the improved PSO algorithm is presented. Some researches are designed to get the advantages of new algorithm. First of all, the time complexity and performance for each algorithm in theory are computed; and then actual data which are generated in experiments are given to demonstrate the performance. And from the experiment result, it can be found that for the speed of algorithm itself PSO is the lowest, and the improved PSO solve this problem in some degree; improved PSO algorithm has the best performance in task solving and PSO is the second one, the red-black and Naive Bayes algorithm are much slower; PSO and improved PSO algorithm perform well in load balancing, while the other two algorithms do not do well.

For the problem of defect inversion in magnetic flux leakage technology, a fast, globally convergent particle swarm optimization algorithm based on the finite-element forward model is introduced as an inverse iterative algorithm in this paper. Two aspects of the traditional particle swarm optimization algorithm have been improved: self-adaptive inertia weight and speed updating strategy. For the inertia weight, it can be adaptively adjusted according to the particle position. The speed update strategy mainly uses the best experience positions of other particles in a randomly selected population to realize the algorithm’s learning. At the same time, the learning factor of the position variable is designed to change with the number of iteration steps. The particle with a good position is added to jump out of the local minimum and accelerate the optimization process. Through the comparison experiment, the improved particle swarm optimization algorithm has a faster convergence speed compared with other traditional particle swarm optimization algorithms. It is more difficult for it to fall into the local minimum value and it is more easily converted to a higher precision.

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.

The partial shading of a photovoltaic array repeatedly occurs in the natural environment, which can cause a failure of a conventional maximum power point tracking (MPPT) algorithm. In this paper, the convergence conditions of the standard particle swarm optimization (PSO) algorithm are deduced by the functional analysis, and then the influence of the random variables and inertia factor of the algorithm on the trajectory in the particle swarm optimization is analyzed. Based on the analysis results, an improved particle swarm optimization (IPSO) algorithm, which adopts both global and local modes to locate the maximum power point, is proposed. Compared to the standard PSO algorithm, in the improved PSO algorithm, many random and interfered variables are removed, and the structure is optimized significantly. The proposed algorithm is first simulated in MATLAB to ensure its capability. The feasibility of the approach is validated through physical implementation and experimentation. Results demonstrate that the proposed algorithm has the capability to track the global maximum power point within 3.3 s with an accuracy of 99%. Compared with five recently developed Global MPPT algorithms, the proposed IPSO algorithm achieved better performance in the maximum power tracking in the partial shading conditions.

In the application of scheduling strategies for power dispatching robots, traditional particle swarm optimization algorithms often become trapped in local optima during the optimization process, preventing the attainment of globally optimal results. Therefore, this paper proposes multi-objective optimization scheduling strategies for power dispatch robots based on an improved particle swarm optimization algorithm framework. When constructing the multi-objective optimization model for power dispatch robots, the particle swarm optimization algorithm is applied, and an adaptive inertia weight adjustment mechanism is used to improve search efficiency, ultimately achieving the optimal solution for multi-objective scheduling. The experimental results show that using the improved particle swarm optimization algorithm to optimize the multi-objective scheduling task of the power dispatching robot significantly reduces the total operating cost of the power system by approximately 19,326.8 US dollars, while keeping monthly pollutant emissions below 100 tons and effectively reducing system network loss. This method not only improves power scheduling efficiency but also promotes the development of green energy, providing strong support for the sustainable development of the power system.

In order to solve the logistics optimization problem, an application method of the improved particle swarm optimization algorithm in logistics energy-saving pickup information network is proposed. Firstly, a mathematical model of logistics cycle picking information scheduling optimization is established, logistics and picking paths are encoded as particles, and the optimal logistics cycle picking optimization scheme is found through the cooperation between particles. Secondly, the deficiencies of the particle swarm optimization algorithm are improved accordingly. In order to test the performance of the IPSO algorithm in solving the logistics circulation picking problem, in the simulation environment of P42 core, 2.6 GHz CPU, 4 GB memory, and Windows XP, the simulation experiment was carried out using VC++6.0 programming operating system. The particle number of the IPSO algorithm is 20, ω max = 5 , ω max = 1 . The experimental results show that the improved particle swarm optimization algorithm can effectively bypass the premature convergence of the traditional particle swarm optimization algorithm and ensure that the optimal solution is searched in the global scope, and the optimal probabilistic solution is obtained, which is better than other scheduling algorithms, with more obvious advantages.

It is of great significance to study how to use intelligent algorithm to optimize the scheduling of microgrid, so as to improve the operation efficiency of microgrid. In this paper, particle swarm optimization(PSO) algorithm is improved by nonlinearly decreasing inertia weight and nonlinearly dynamic adjusting learning factors. Compared with PSO, the global search ability of the improved particle swarm optimization(IPSO) algorithm is improved. IPSO is used to optimize the scheduling of the microgrid grid connection model. The example results show that nonlinearly decreasing inertia weight and nonlinearly dynamic adjusting learning factors can obviously improve PSO. IPSO has faster convergence and lower comprehensive cost of microgrid scheduling. This paper provides an effective method for the day ahead economic scheduling of microgrid.

A multi‐unmanned aerial vehicle (UAV) offers the advantages of flexibility, safety, and efficiency with respect to odor source localization. When the traditional particle swarm optimization (PSO) algorithm is used to locate the odor source, the search efficiency of the UAVs is reduced owing to unplanned search routes, and local extreme points and internal collisions may occur, making it impossible to quickly locate the odor source. In response to these problems, this paper proposes an improved particle swarm optimization (IPSO) algorithm, which combines the PSO with the Zigzag algorithm to preplan the search routes and improve the efficiency of the UAVs to search the plume. In addition, the distance between the UAVs is used as an adjustment factor to adaptively adjust the inertia weights of the particles to prevent the UAVs from falling into a local optimum during the plume‐tracking stage and further improve the positioning efficiency. Finally, the PSO combined with the artificial potential field algorithm is used to avoid the internal collision of the UAVs when tracking the plume. The algorithm is verified through simulations and physical experiments. The results show that the IPSO significantly improves the efficiency and can achieve rapid and effective location of the odor source, which verifies the effectiveness and applicability of the algorithm.

The ground attack task allocation of unmanned aerial vehicle (UAV) swarm is the key and difficult problem in the UAV ground attack mission planning. In response to this problem, the mathematical model is designed, in which the objective function is to maximize the target attack gain and minimize the target attack cost, and the target coverage, the target damage effect, the UAV attack threshold and the UAV range constraints are taken into account. And an improved particle swarm optimization (IPSO) including encoding and decoding rules, constraint handling rules and particle update rules are designed to solve the model. The simulation results show that, the proposed algorithm can effectively solve the task allocation model, and compared with other algorithms, the proposed algorithm has certain advantages.

Unmanned Aerial Vehicles (UAVs) have been widely used in various applications such as inspection, security surveillance, and aerial photography, in which the cooperation of multiple UAVs is significantly important for better accomplishing complex tasks due to the limited capability for individual UAV s. Task planning is the primary issue for the cooperation of multiple UAV s, and has attracted extensive research interests. However, most research fails to account adequately for limited energy on each UAV, which involves in many factors such as different operations for performing a task and various movement patterns besides the distance and turns that have been commonly considered. By contrast, we conduct a series of experiments to obtain the energy model of UAV s. Furthermore, we focus on the energy-efficient min-max task planning (E2M2TP) problem by considering the heterogeneity of tasks and integrating various energy factors, which is beneficial for balancing the workload and energy consumption among UAV s and thus reducing the number of required UAVs. We show that E2M2TP is NP-hard, and propose an energy-aware variable neighbor search (EVNS) algorithm to iteratively optimize both task allocation and path planning. Extensive simulations are conducted to validate that EVNS outperforms the other state-of-the-art algorithms.

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