Disasters have caused significant losses to humans in the past decades. It is essential to learn about the disaster situation so that rescue works can be conducted as soon as possible. Unmanned aerial vehicle (UAV) is a very useful and effective tool to improve the capacity of disaster situational awareness for responders. In the paper, UAV path planning is modelled as the optimization problem, in which fitness functions include travelling distance and risk of UAV, three constraints involve the height of UAV, angle of UAV, and limited UAV slope. An adaptive selection mutation constrained differential evolution algorithm is put forward to solve the problem. In the proposed algorithm, individuals are selected depending on their fitness values and constraint violations. The better the individual is, the higher the chosen probability it has. These selected individuals are used to make mutation, and the algorithm searches around the best individual among the selected individuals. The well-designed mechanism improves the exploitation and maintains the exploration. The experimental results have indicated that the proposed algorithm is competitive compared with the state-of-art algorithms, which makes it more suitable in the disaster scenario.

A constrained differential evolution algorithm to solve UAV path planning in disaster scenarios

Path Planning problems with Unmanned Aerial Vehicles (UAVs) are among the most studied knowledge areas in the related literature. However, few of them have been applied to groups of UAVs. The use of swarms allows to speed up the flight time and, thus, reducing the operational costs. When combined with Artificial Intelligence (AI) algorithms, a single system or operator can control all aircraft while optimal paths for each one can be computed. In order to introduce the current situation of these AI-based systems, a review of the most novel and relevant articles was carried out. This review was performed in two steps: first, a summary of the found articles; second, a quantitative analysis of the publications found based on different factors, such as the temporal evolution or the number of articles found based on different criteria. Therefore, this review provides not only a summary of the most recent work but it gives an overview of the trend in the use of AI algorithms in UAV swarms for Path Planning problems. The AI techniques of the articles found can be separated into four main groups based on their technique: reinforcement Learning techniques, Evolutive Computing techniques, Swarm Intelligence techniques, and, Graph Neural Networks. The final results show an increase in publications in recent years and that there is a change in the predominance of the most widely used techniques.

A review of artificial intelligence applied to path planning in UAV swarms

UAV Path Planning Using Optimization Approaches: A Survey

Global path planning and multi-objective path control for unmanned surface vehicle based on modified particle swarm optimization (PSO) algorithm

UAV environmental perception and autonomous obstacle avoidance: A deep learning and depth camera combined solution

Automatic generation of optimized flyable path is a key technology and challenge for autonomous unmanned aerial vehicle (UAV) formation system. Aiming to improve the rapidity and optimality of automatic path planner, this paper presents a three dimensional path planning algorithm for UAV formation based on comprehensively improved particle swarm optimization (PSO). In the proposed method, a chaos-based Logistic map is firstly adopted to improve the particle initial distribution. Then, the common used constant acceleration coefficients and maximum velocity are designed to adaptive linear-varying ones, which adjusts to the optimization process and meanwhile improves solution optimality. Besides, a mutation strategy that undesired particles are replaced by those desired ones is also proposed and the algorithm convergence speed is accelerated. Theoretically, the comprehensively improved PSO not only speeds up the convergence but also improves the solution optimality. Finally, Monte-Carlo simulation for UAV formation under terrain and threat constraints are carried out and the results illustrate the rapidity and optimality of the proposed method.

Efficient path planning for UAV formation via comprehensively improved particle swarm optimization

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Efficient path planning for UAV formation via comprehensively improved particle swarm optimization