Intelligent 3-D path planning is a crucial aspect of an unmanned aerial vehicle's (UAVs) autonomous flight system. In this chapter, we propose a two-step centralized system for developing a 3-D path-planning for a swarm of UAVs. We trace the UAV position while simultaneously constructing an incremental and progressive map of the environment using visual simultaneous localization and mapping (V-SLAM) method. We introduce a corner-edge points matching mechanism for stabilizing the V-SLAM system in the least extracted map points. In this instance, a single UAV performs the function using monocular vision for mapping an area of interest. We use the particle swarm optimization (PSO) algorithm to optimize paths for multi-UAVs. We also propose a path updating mechanism based on region sensitivity (RS) to avoid sensitive areas if any hazardous events are detected during the execution of the final path. Moreover, the dynamic fitness function (DFF) is developed to evaluate path planning performance while considering various optimization parameters such as flight risk estimation, energy consumption, and operation completion time. This system achieves high fitness value and safely arrives at the destination while avoiding collisions and restricted areas, which validates the efficiency of proposed PSO-VSLAM system as demonstrated by simulation results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    UAVs Path Planning by Particle Swarm Optimization Based on Visual-SLAM Algorithm


    Additional title:

    Unmanned Syst. Tech.




    Publication date :

    2022-05-07


    Size :

    29 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Multi-Path Planning Method for UAVs Swarm Purposes

    Madridano, Angel / Al-Kaff, Abdulla / Gomez, David Martin et al. | IEEE | 2019


    Particle Swarm Optimization Algorithm for Drilling Path Planning Problem

    Zhu, G.-y. | British Library Online Contents | 2008


    Receding-Horizon Trajectory Planning for Multiple UAVs Using Particle Swarm Optimization

    Vijayakumari, Dileep M. / Kim, Seungkeun / Suk, Jinyoung et al. | AIAA | 2019


    Path Planning of Quadrotor Based on Quantum Particle Swarm Optimization Algorithm

    Zhou, De Xin ;Ma, Xin Chao ;Ma, Teng Da | Trans Tech Publications | 2013