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All Journal IAES International Journal of Robotics and Automation (IJRA)
Shuangshuang Fan
University of Tasmania
Automotive Engineering Electrical & Electronics Engineering

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Particle swarm optimization algorithms with selective differential evolution for AUV path planning Hui Sheng Lim; Shuangshuang Fan; Christopher K.H. Chin; Shuhong Chai; Neil Bose
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1336.369 KB) | DOI: 10.11591/ijra.v9i2.pp94-112

Abstract

Particle swarm optimization (PSO)-based algorithms are suitable for path planning of the Autonomous Underwater Vehicle (AUV) due to their high computational efficiency. However, such algorithms may produce sub-optimal paths or require higher computational load to produce an optimal path. This paper proposed a new approach that improves the ability of PSO-based algorithms to search for the optimal path while maintaining a low computational requirement. By hybridizing with differential evolution (DE), the proposed algorithms carry out the DE operator selectively to improve the search ability. The algorithms were applied in an offline AUV path planner to generate a near-optimal path that safely guides the AUV through an environment with a priori known obstacles and time-invariant non-uniform currents. The algorithm performances were benchmarked against other algorithms in an offline path planner because if the proposed algorithms can provide better computational efficiency to demonstrate the minimum capability of a path planner, then they will outperform the tested algorithms in a realistic scenario. Through Monte Carlo simulations and Kruskal-Wallis test, SDEAPSO (selective DE-hybridized PSO with adaptive factor) and SDEQPSO (selective DE-hybridized Quantum-behaved PSO) were found to be capable of generating feasible AUV path with higher efficiency than other algorithms tested, as indicated by their lower computational requirement and excellent path quality.
Co-Authors Christopher K.H. Chin Hui Sheng Lim Neil Bose Shuhong Chai