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

Sadiq Jawad R. (University of Baghdad)
Muna H. Saleh (University of Baghdad)

TELKOMNIKA (Telecommunication Computing Electronics and Control)
Vol 19, No 4: August 2021

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.