Three-dimensional unmanned aerial vehicle path planning utilizing artificial gorilla troops optimizer incorporating combined mutation and quadratic interpolation operators

Abstract

In real terrain and dynamic obstacle scenarios, the complexity of the 3D UAV path planning problem greatly increases. Thus, to procure the optimal flight path for UAVs in such scenarios, an augmented Artificial Gorilla Troops Optimizer, denoted as OQMGTO, is proposed. The proposed OQMGTO algorithm introduces three strategies: combination mutation, quadratic interpolation, and random opposition-based learning, aiming to enhance the ability to timely escape from local optimal path areas and rapidly converge to the global optimal path. Given the flight distance, smoothness, terrain collision, and other five realistic factors of UAVs, specific constraint conditions are proposed to address complex scenarios, aiming to construct a path planning model. By optimizing this model, OQMGTO algorithm solves the path planning problem in complex scenarios. The extensive validation of OQMGTO algorithm on CEC2017 test suite enhances its credibility as a powerful optimization tool. Comparison experiments are conducted in simulated terrain scenarios, including six multi-obstacle terrain scenarios and three dynamic obstacle scenarios. The experimental findings validate OOMGTO algorithm can assist UAV in searching for excellent flight paths, featuring high safety and reliability characteristics, which confirms the superiority of OOMGTO algorithm for path planning in simulated terrain scenarios. Furthermore, in four flight missions carried out in real terrains, OQMGTO algorithm demonstrates superior search performance, planning smooth trajectories without mountain collision.

Keywords: Artificial gorilla troops optimizer; Combined mutation operator; Quadratic interpolation operator; Real terrain; UAV path planning.