Cluster Computing

, Volume 22, Supplement 2, pp 5089–5098 | Cite as

3D real-time path planning based on cognitive behavior optimization algorithm for UAV with TLP model

  • Yawei CaiEmail author
  • Hui Zhao
  • Mudong Li
  • Hanqiao HuangEmail author


Real-time path planning of unmanned aerial vehicle (UAV) in the three-dimension environment is a complicated global optimum problem. This paper formulates the real-time path planning problem for the unmanned aerial vehicles (UAVs) as a complicated global optimum problem in the three-dimensional environment and proposes an improved a tree-dimensional (3D) real-time path planning algorithm based on tri-level programing model to generate an optimal feasible route. The flight routeis designed to have a short length and a low flight altitude. The multiple constraints based on the realistic scenarios are taken into account as the threat level function. Firstly, from the view of control performance of UAV, tri-level programing (TLP) model is designed to generate a smooth path. Then, the objective functions including the leader, middle-level follower and bottom-level follower function and decision variables of TLP are defined to guarantee the flight toward the target. In addition, the cognitive behavior optimization algorithm (COA) embedded with the proposed optimization strategies is used to solve this problem. Numerical experimental results and the comparison with PSO, RRT algorithm demonstrated the efficiency and effectiveness of the proposed approach.


Unmanned aerial vehicle Path planning TLP model Cognitive behavior optimization algorithm 



This work was supported by the National Natural Science Foundation of China (No.61601505) and the National Aviation Science Foundation of China (No.20155196022).


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Aeronautics and Astronautics EngineeringAir Force Engineering UniversityXi’anChina
  2. 2.Science and technology on coplax aviation systems simulation laboratoryBeijingChina
  3. 3.Northwestern Polytechnical UniversityXi’anChina

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