Research On UAV Path Planning Based On Hybrid Grey Wolf Optimizer Algorithm

Unmanned aerial vehicles(UAVs) path planning refers to obtain an optimal route under comprehensive consideration of various constraints.In the research of UAV path planning problem,the core ideas can be summarized as follows:First,the mathematical model is established,then the path planning algorithm is presented to acquire the optimal route.To solve the two-dimensional path planning problem of UAV,a hybrid grey wolf optimizer algorithm is proposed.The proposed algorithm combines the advantages of grey wolf optimizer algorithm and symbiotic organisms search algorithm.In addition,the convergence analysis of the proposed algorithm is presented based on the method of linear difference equation.The cubic B-spline curve is used to smooth the generated flight route and make the planning path be suitable for the UAV.The simulation experimental results show that the proposed algorithm can acquire a feasible and effective route successfully.Most of algorithms reported in the literature may not feasible or efficient for solving three-dimensional UAV path planning problem under the complex flight environment.To solve this problem,a novel reinforcement learning based grey wolf optimizer algorithm called RLGWO has been presented.In the proposed algorithm,the reinforcement learning is inserted that the individual is controlled to switch operation adaptively according to the accumulated performance.Considering that the proposed algorithm is designed to serve for UAV path planning,four operations have been introduced for each individual.The simulation experimental results show that the RLGWO algorithm can acquire a feasible and effective route successfully in complicated environment.The fractional-order PID controller is designed for UAV flight control.To solving the problems that the traditional parameter tuning methods own the drawbacks of uncertainty and randomness,a hybrid grey wolf optimizer algorithm is proposed for parameter tuning of fractional-order PID controllers,and the components of the algorithm are described in detail.Finally,the simulation results show that the fractional order-PID controller tuned by the proposed algorithm has better control effect.