Aerospace and Electronic Systems - October 2018 - 48
Performance Comparison of Particle Swarm Optimization and Cuckoo Search for Online Route Planning
nodes, v all vertexes between a node, and
the adjacent and d is the cumulative distance. The change made to the Dijkstra algorithm to plan the route on a topographic
map was to include the penalization:
evaluate nodes when hmin ≤ h < hmax
nv =
,
∞ when hmax < h < hmin
when the evaluation between two adjacent
nodes did not respect the height flight established. The result: the algorithm looks
for the shortest route between two nodes,
but avoids the mountains higher than the
established height flight.
EVALUATION RESULT DIJKSTRA
ALGORITHM VS PROPOSED ONLINE
ROUTE PLANNING
The validation of the quality of the obtained routes is a process that proposes five
different departure and destination coordinates. The routes are preplanned using the
Dijkstra algorithm previously described.
Then, the routes obtained with the proposed method in this work, and the results
of those routes, are compared. Figure 8
presents the obtained routes in the offline
Dijkstra algorithm and the obtained routes
using the proposed method for route planning. Figures show the nodes visited by the
Dijkstra algorithm and the advance points
obtained with the proposed method where
red dots indicate, visually, the nodes visited by both methods. Tables 5 and 6, shows
the results obtained in terms of time and
number of nodes visited by each method.
The results of the Table 5, for the
five validation routes show that when
the route is complex, this is to say when
they have several obstacles, the proposed
method in this work tends to explore and
determine the best advance point. In route
1, Figure 8a, the number of nodes visited
was of 95, considering that the proposed
method does not know the workspace, it
only receives the information that can visually access to from the sensor. In comparison, the Dijkstra algorithm visited
4,804 nodes and its vertexes for route 1
before obtaining the shortest path towards
the destination node. As it was previously
mentioned, the Dijkstra algorithm needs
to know the nodes and vertexes compos48
Figure 8.
(a) route 1, (b) route 2, (c) route 3, (d) route 4, (e) route 5.
IEEE A&E SYSTEMS MAGAZINE
OCTOBER 2018
Aerospace and Electronic Systems - October 2018
Table of Contents for the Digital Edition of Aerospace and Electronic Systems - October 2018
Contents
Aerospace and Electronic Systems - October 2018 - Cover1
Aerospace and Electronic Systems - October 2018 - Cover2
Aerospace and Electronic Systems - October 2018 - Contents
Aerospace and Electronic Systems - October 2018 - 2
Aerospace and Electronic Systems - October 2018 - 3
Aerospace and Electronic Systems - October 2018 - 4
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