Online 3D path planning for Tri-copter drone using GWO-IBA algorithm

Sadiq Jawad R., Muna H. Saleh

Abstract


Robots at present are involved in many parts of life, especially mobile robots, which are two parts, ground robots and flying robots, and the best example of a flying robot is the drone. Path planning is a fundamental part of UAVs because the drone follows the path that leads it to goal with obstacle avoidance. Therefore, this paper proposes a hybrid algorithm (grey wolf optimization - intelligent bug algorithm GWO-IBA) to determine the best, shortest and without obstacles path. The hybrid algorithm was implemented and tested in the MATLAB program on the Tri-copter model, and it gave different paths in different environments. The paths obtained were characterized by being free of obstacles and the shortest paths available to reach the target.

Keywords


GWO; obstacles avoidance; online; path planning; Tri-copter;

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DOI: http://dx.doi.org/10.12928/telkomnika.v19i4.18697

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TELKOMNIKA Telecommunication, Computing, Electronics and Control
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