Optimized Path-Planning in Continuous Spaces for Unmanned Aerial Vehicles Using Meta-Heuristics

This work presents a novel path-planning approach for Unmanned Aerial Vehicles (UAVs) in continuous 3D environments. This proposal aims to minimize the path length while avoiding collisions through the suitable adjusting of control points (the points that take the UAV from a start position to a target location). The above is stated as a constrained global optimization problem. This problem considers the overall length of the path as the single objective function. Regarding the problem constraints, they are related to the collision of the obstacles with the 3D shape of a path. The assignment of the path shape is also proposed in this work to streamline the planning process. Due to the optimization problem features (high nonlinearity, multimodality, non-differentiability, and the lack of an initial guess solution), a constraints-handling mechanism is used in meta-heuristics to find suitable optimized paths. Also, an enhanced path-search mechanism is included in these algorithms to deal with complex planning scenarios. The enhanced mechanism incorporates a path computed by a variant of the A-Star method (the Pruned A-Star) in the first set of candidate solutions of the meta-heuristics. The proposed approach is tested through six complex scenarios. Moreover, the performance of three well-known meta-heuristics, Differential Evolution (DE), Particle Swarm Optimization (PSO), and the Genetic Algorithm (GA), is studied to find a potential candidate to solve the path-planning problem. In this way, the paths found by DE show outstanding performance. The paths obtained by the Pruned A-Star technique are adopted as a point of comparison to determine the advantages and drawbacks of the proposal.