Motion Planning

Motion planning is a fundamental function in robotics and numerous intelligent machines. The global concept of planning involves multiple capabilities, such as path generation, dynamic planning, optimization, tracking, and control. This book has organized different planning topics into three general perspectives that are classified by the type of robotic applications. The chapters are a selection of recent developments in a) planning and tracking methods for unmanned aerial vehicles, b) heuristically based methods for navigation planning and routes optimization, and c) control techniques developed for path planning of autonomous wheeled platforms

Application of Pigeon Inspired Optimization for Multidimensional Knapsack Problem

The multidimensional knapsack problem (MKP) is a generalization of the classical knapsack problem, a problem for allocating a resource by selecting a subset of objects that seek for the highest profit while satisfying the capacity of knapsack constraint. The MKP have many practical applications in different areas and classified as a NP-hard problem. An exact method like branch and bound and dynamic programming can solve the problem, but its time computation increases exponentially with the size of the problem. Whereas some approximation method has been developed to produce a near-optimal solution within reasonable computational times. In this paper a pigeon inspired optimization (PIO) is proposed for solving MKP. PIO is one of the metaheuristic algorithms that is classified in population-based swarm intelligent that is developed based on the behavior of the pigeon to find its home although it had gone far away from it home. In this paper, PIO implementation to solve MKP is applied to two different characteristic cases in total 10 cases. The result of the implementation of the two-best combination of parameter values for 10 cases compared to particle swarm optimization, intelligent water drop algorithm and the genetic algorithm gives satisfactory results

Path-planning in 3D space using butterfly optimization algorithm

The Butterfly Optimization Algorithm is one of the most recent nature-inspired algorithms that mimic the butterflies' behavior in mating and finding food, for solving the global optimization problems. The algorithm utilizes the sense of butterflies of smelling for determining the location of nectar and find mates, which is based on the foraging strategy of those insects. This paper represents a method of using the BOA algorithm for solving the problem of path planning in three-dimensional space. The proposed method finds a path from a particular starting point to any chosen goal, where the generated final path is completely safe and collision-free. The algorithm is based on 3 phases: the initial phase, the iteration phase, and the final phase. The movement of butterflies is based on two search moves, one of them is Local random search; where the butterfly moves randomly within the swarm, and the other is Global search; where the butterfly moves towards the best-fitted butterfly in the current population. The proposed method in this paper is able to find a collision-free path from the start point to the goal in all of the presented test environments in proximately well performance and the results were computed in terms of execution time and path length

Bio-Inspired Obstacle Avoidance: from Animals to Intelligent Agents

A considerable amount of research in the field of modern robotics deals with mobile agents and their autonomous operation in unstructured, dynamic, and unpredictable environments. Designing robust controllers that map sensory input to action in order to avoid obstacles remains a challenging task. Several biological concepts are amenable to autonomous navigation and reactive obstacle avoidance. We present an overview of most noteworthy, elaborated, and interesting biologically-inspired approaches for solving the obstacle avoidance problem. We categorize these approaches into three groups: nature inspired optimization, reinforcement learning, and biorobotics. We emphasize the advantages and highlight potential drawbacks of each approach. We also identify the benefits of using biological principles in artificial intelligence in various research areas

A Survey on Recent Trends of PIO and Its Variants Applied for Motion Planning of Dynamic Agents

Pigeon Inspired Optimization (PIO) algorithm is gaining popularity since its development due to faster convergence ability with great efficiencies when compared with other bio-inspired algorithms. The navigation capability of homing pigeons has been precisely used in Pigeon Inspired Optimization algorithm and continuous advancement in existing algorithms is making it more suitable for complex optimization problems in various fields. The main theme of this survey paper is to introduce the basics of PIO along with technical advancements of PIO for the motion planning techniques of dynamic agents. The survey also comprises of findings and limitations of proposed work since its development to help the research scholar around the world for particular algorithm selection especially for motion planning. This survey might be extended up to application based in order to understand the importance of algorithm in future studies

Introductory Review of Swarm Intelligence Techniques

With the rapid upliftment of technology, there has emerged a dire need to fine-tune or optimize certain processes, software, models or structures, with utmost accuracy and efficiency. Optimization algorithms are preferred over other methods of optimization through experimentation or simulation, for their generic problem-solving abilities and promising efficacy with the least human intervention. In recent times, the inducement of natural phenomena into algorithm design has immensely triggered the efficiency of optimization process for even complex multi-dimensional, non-continuous, non-differentiable and noisy problem search spaces. This chapter deals with the Swarm intelligence (SI) based algorithms or Swarm Optimization Algorithms, which are a subset of the greater Nature Inspired Optimization Algorithms (NIOAs). Swarm intelligence involves the collective study of individuals and their mutual interactions leading to intelligent behavior of the swarm. The chapter presents various population-based SI algorithms, their fundamental structures along with their mathematical models.Comment: Submitted to Springe

MOCHIO: a novel Multi-Objective Coronavirus Herd Immunity Optimization algorithm for solving brushless direct current wheel motor design optimization problem

A prominent and realistic problem in magnetics is the optimal design of a brushless direct current (BLDC) motor. A key challenge is designing a BLDC motor to function efficiently with a minimum cost of materials to achieve maximum efficiency. Recently, a new metaheuristic optimization algorithm called the Coronavirus Herd Immunity Optimizer (CHIO) is reported for solving global optimization problems. The inspiration for this technique derives from the idea of herd immunity as a way of combating the coronavirus pandemic. A variant of CHIO called Multi-Objective Coronavirus Herd Immunity Optimizer (MOCHIO) is proposed in this paper, and it is applied to optimize the BLDC motor design optimization problem. A static penalty constraint handling is introduced to handle the constraints, and a fuzzy-based membership function has been introduced to find the best compromise results. The BLDC motor design problem has two main objectives: minimizing the motor mass and maximizing the efficiency with five constraints and five decision/design variables. First, MOCHIO is tested with benchmark functions and then applied to the BLDC motor design problem. The experimental results are compared with other competitors are presented to confirm the viability and dominance of the MOCHIO. Further, six performance metrics are calculated for all algorithms to assess the performances

A review of optimization techniques in spacecraft flight trajectory design

For most atmospheric or exo-atmospheric spacecraft flight scenarios, a well-designed trajectory is usually a key for stable flight and for improved guidance and control of the vehicle. Although extensive research work has been carried out on the design of spacecraft trajectories for different mission profiles and many effective tools were successfully developed for optimizing the flight path, it is only in the recent five years that there has been a growing interest in planning the flight trajectories with the consideration of multiple mission objectives and various model errors/uncertainties. It is worth noting that in many practical spacecraft guidance, navigation and control systems, multiple performance indices and different types of uncertainties must frequently be considered during the path planning phase. As a result, these requirements bring the development of multi-objective spacecraft trajectory optimization methods as well as stochastic spacecraft trajectory optimization algorithms. This paper aims to broadly review the state-of-the-art development in numerical multi-objective trajectory optimization algorithms and stochastic trajectory planning techniques for spacecraft flight operations. A brief description of the mathematical formulation of the problem is firstly introduced. Following that, various optimization methods that can be effective for solving spacecraft trajectory planning problems are reviewed, including the gradient-based methods, the convexification-based methods, and the evolutionary/metaheuristic methods. The multi-objective spacecraft trajectory optimization formulation, together with different class of multi-objective optimization algorithms, is then overviewed. The key features such as the advantages and disadvantages of these recently-developed multi-objective techniques are summarised. Moreover, attentions are given to extend the original deterministic problem to a stochastic version. Some robust optimization strategies are also outlined to deal with the stochastic trajectory planning formulation. In addition, a special focus will be given on the recent applications of the optimized trajectory. Finally, some conclusions are drawn and future research on the development of multi-objective and stochastic trajectory optimization techniques is discussed

Dynamical modeling of collective behavior from pigeon flight data: flock cohesion and dispersion

Several models of flocking have been promoted based on simulations with qualitatively naturalistic behavior. In this paper we provide the first direct application of computational modeling methods to infer flocking behavior from experimental field data. We show that this approach is able to infer general rules for interaction, or lack of interaction, among members of a flock or, more generally, any community. Using experimental field measurements of homing pigeons in flight we demonstrate the existence of a basic distance dependent attraction/repulsion relationship and show that this rule is sufficient to explain collective behavior observed in nature. Positional data of individuals over time are used as input data to a computational algorithm capable of building complex nonlinear functions that can represent the system behavior. Topological nearest neighbor interactions are considered to characterize the components within this model. The efficacy of this method is demonstrated with simulated noisy data generated from the classical (two dimensional) Vicsek model. When applied to experimental data from homing pigeon flights we show that the more complex three dimensional models are capable of predicting and simulating trajectories, as well as exhibiting realistic collective dynamics. The simulations of the reconstructed models are used to extract properties of the collective behavior in pigeons, and how it is affected by changing the initial conditions of the system. Our results demonstrate that this approach may be applied to construct models capable of simulating trajectories and collective dynamics using experimental field measurements of herd movement. From these models, the behavior of the individual agents (animals) may be inferred