A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors
This paper proposes an improved algorithm applied to path planning for the inspection of unmanned aerial vehicles (UAVs) in urban pipe corridors, which introduces a collaborative game between spherical vector particle swarm optimization (SPSO) and differential evolution (DE) algorithms. Firstly, a h...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/11/16/3620 |
| _version_ | 1797583871522373632 |
|---|---|
| author | Chuanyue Wang Lei Zhang Yifan Gao Xiaoyuan Zheng Qianling Wang |
| author_facet | Chuanyue Wang Lei Zhang Yifan Gao Xiaoyuan Zheng Qianling Wang |
| author_sort | Chuanyue Wang |
| collection | DOAJ |
| description | This paper proposes an improved algorithm applied to path planning for the inspection of unmanned aerial vehicles (UAVs) in urban pipe corridors, which introduces a collaborative game between spherical vector particle swarm optimization (SPSO) and differential evolution (DE) algorithms. Firstly, a high-precision 3D grid map model of urban pipe corridors is constructed based on the actual urban situation. Secondly, the cost function is formulated, and the constraints for ensuring the safe and smooth inspection of UAVs are proposed to transform path planning into an optimization problem. Finally, a hybrid algorithm of SPSO and DE algorithms based on the Nash bargaining theory is proposed by introducing a cooperative game model for optimizing the cost function to plan the optimal path of UAV inspection in complex urban pipe corridors. To evaluate the performance of the proposed algorithm (GSPSODE), the SPSO, DE, genetic algorithm (GA), and ant colony optimization (ACO) are compared with GSPSODE, and the results show that GSPSODE is superior to other methods in UAV inspection path planning. However, the selection of algorithm parameters, the difference in the experimental environment, and the randomness of experimental results may affect the accuracy of experimental results. In addition, a high-precision urban pipe corridors scenario is constructed based on the RflySim platform to dynamically simulate the optimal path planning of UAV inspection in real urban pipe corridors. |
| first_indexed | 2024-03-10T23:45:10Z |
| format | Article |
| id | doaj.art-00643718c6c247efb0e0cb5bef43b467 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T23:45:10Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-00643718c6c247efb0e0cb5bef43b4672023-11-19T02:04:42ZengMDPI AGMathematics2227-73902023-08-011116362010.3390/math11163620A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe CorridorsChuanyue Wang0Lei Zhang1Yifan Gao2Xiaoyuan Zheng3Qianling Wang4School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin 300132, ChinaSchool of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin 300132, ChinaSchool of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin 300132, ChinaSchool of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin 300132, ChinaSchool of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin 300132, ChinaThis paper proposes an improved algorithm applied to path planning for the inspection of unmanned aerial vehicles (UAVs) in urban pipe corridors, which introduces a collaborative game between spherical vector particle swarm optimization (SPSO) and differential evolution (DE) algorithms. Firstly, a high-precision 3D grid map model of urban pipe corridors is constructed based on the actual urban situation. Secondly, the cost function is formulated, and the constraints for ensuring the safe and smooth inspection of UAVs are proposed to transform path planning into an optimization problem. Finally, a hybrid algorithm of SPSO and DE algorithms based on the Nash bargaining theory is proposed by introducing a cooperative game model for optimizing the cost function to plan the optimal path of UAV inspection in complex urban pipe corridors. To evaluate the performance of the proposed algorithm (GSPSODE), the SPSO, DE, genetic algorithm (GA), and ant colony optimization (ACO) are compared with GSPSODE, and the results show that GSPSODE is superior to other methods in UAV inspection path planning. However, the selection of algorithm parameters, the difference in the experimental environment, and the randomness of experimental results may affect the accuracy of experimental results. In addition, a high-precision urban pipe corridors scenario is constructed based on the RflySim platform to dynamically simulate the optimal path planning of UAV inspection in real urban pipe corridors.https://www.mdpi.com/2227-7390/11/16/3620UAV inspectionpath planningspherical vector particle swarm optimizationdifferential evolutionNash bargaining theoryurban pipe corridors |
| spellingShingle | Chuanyue Wang Lei Zhang Yifan Gao Xiaoyuan Zheng Qianling Wang A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors Mathematics UAV inspection path planning spherical vector particle swarm optimization differential evolution Nash bargaining theory urban pipe corridors |
| title | A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors |
| title_full | A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors |
| title_fullStr | A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors |
| title_full_unstemmed | A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors |
| title_short | A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors |
| title_sort | cooperative game hybrid optimization algorithm applied to uav inspection path planning in urban pipe corridors |
| topic | UAV inspection path planning spherical vector particle swarm optimization differential evolution Nash bargaining theory urban pipe corridors |
| url | https://www.mdpi.com/2227-7390/11/16/3620 |
| work_keys_str_mv | AT chuanyuewang acooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT leizhang acooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT yifangao acooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT xiaoyuanzheng acooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT qianlingwang acooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT chuanyuewang cooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT leizhang cooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT yifangao cooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT xiaoyuanzheng cooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors AT qianlingwang cooperativegamehybridoptimizationalgorithmappliedtouavinspectionpathplanninginurbanpipecorridors |