3D Path Planning Method for Multi-UAVs Inspired by Grey Wolf Algorithms

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dc.contributor.authorKiani, Farzad
dc.contributor.authorSeyyedabbasi, Amir
dc.contributor.authorAliyev, Royal
dc.contributor.authorShah, Mohammed Ahmed
dc.contributor.authorGulle, Murat Ugur
dc.date.accessioned2024-03-13T10:33:27Z
dc.date.available2024-03-13T10:33:27Z
dc.date.issued2021
dc.departmentİstanbul Beykent Üniversitesien_US
dc.description.abstractEfficient and collision-free pathfinding, between source and destination locations for multi-Unmanned Aerial Vehicles (UAVs), in a predefined environment is an important topic in 3D Path planning methods. Since path planning is a Non-deterministic Polynomial-time (NP-hard) problem, metaheuristic approaches can be applied to find a suitable solution. In this study, two efficient 3D path planning methods, which are inspired by Incremental Grey Wolf Optimization (I-GWO) and Expanded Grey Wolf Optimization (Ex-GWO), are proposed to solve the problem of determining the optimal path for UAVs with minimum cost and low execution time. The proposed methods have been simulated using two different maps with three UAVs with diverse sets of starting and ending points. The proposed methods have been analyzed in three parameters (optimal path costs, time and complexity, and convergence curve) by varying population sizes as well as iteration numbers. They are compared with well-known different variations of grey wolf algorithms (GWO, mGWO, EGWO, and RWGWO). According to path cost results of the defined case studies in this study, the I-GWO-based proposed path planning method (PPI-GWO) outperformed the best with %36.11. In the other analysis parameters, this method also achieved the highest success compared to the other five methods.en_US
dc.identifier.doi10.53106/160792642021072204003
dc.identifier.endpage755en_US
dc.identifier.issn1607-9264
dc.identifier.issn2079-4029
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85110708279en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage743en_US
dc.identifier.urihttps://doi.org/10.53106/160792642021072204003
dc.identifier.urihttps://hdl.handle.net/20.500.12662/3944
dc.identifier.volume22en_US
dc.identifier.wosWOS:000682214900003en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherLibrary & Information Center, Nat Dong Hwa Univen_US
dc.relation.ispartofJournal Of Internet Technologyen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectPath planningen_US
dc.subjectMultiple UAVen_US
dc.subjectMobile robotsen_US
dc.subjectMetaheuristicsen_US
dc.title3D Path Planning Method for Multi-UAVs Inspired by Grey Wolf Algorithmsen_US
dc.typeArticleen_US

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