An Improved Bacterial Chemotaxis Algorithm for Three-dimensional UAV Path Planning Based on Adaptive Dynamic Window
PU Xingcheng
WANG Huan
TAN Ling
CHEN Yurou
WANG Shuzhen
Abstract：A hybrid three-dimensional path planning algorithm(3D_IBASDWA)is proposed as a solution to the path planning problem of unmanned aerial vehicles(UAVs)in three-dimensional space based on an adaptive dynamic window(self_3D_DWA)and an improved bacterial chemotaxisalgorithm(3D_IBF).The enhanced algorithm integrates the two-dimensional dynamic window and bacterial chemotaxis algorithms with global and local path planning,enabling the resolution of both global optimal solutions and the circumvention of local dynamic obstacles with disturbances.Additionally,the logistics chaos strategy is incorporated into the global path optimization process based on the bacterial chemotaxis algorithm,thereby enhancing the precision of calculations and accelerating the convergence rate in path planning.Moreover,the sensors are employed to ascertain the presence of dynamic obstacles for the UAV based on the obtained path.The three-dimensional dynamic window self-adaptive algorithm is employed for the circumvention of dynamic obstacles.The simulation results demonstrate the efficacy of the enhanced algorithm in terms of precision in calculation,rapid convergence,and the avoidance of dynamic obstacles.
Keywords：three-dimensional spacebacterial algorithmlogistics chaosreference pathdynamic window algorithmadaptivedynamic obstacle avoidancepath planning
Publication Date：2024-09-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：14( 40-53 )