a question

[Goldenwang96]

Hello! I'm a student in school and intersted in path planning. I have some questions in your paper how did your drone avoid obstacles and how did you put algrithms in real UAV?

[duongpm]

Hi, An obstacle in this study is defined as an object staying inside a cylinder of diameter r (r can be chosen to be the size of the obstacle). A cost function is then defined to penalize the paths that go through that cylinder (details in the paper). To implement the algorithm in a real drone, the generated path is exported as a list of waypoints. Those waypoints are then uploaded to the drone via a ground control station software such as Mission Planner. The drone will then fly automatically through those waypoints.

[Goldenwang96]

Hi， In the process of using a real drone, do you need PID controller,adaptive twisting sliding mode or others' control?

	golden__wang

@. | 签名由网易邮箱大师定制 On 7/29/2021 @.> wrote：

Hi, An obstacle in this study is defined as an object staying inside a cylinder of diameter r (r can be chosen to be the size of the obstacle). A cost function is then defined to penalize the paths that go through that cylinder (details in the paper). To implement the algorithm in a real drone, the generated path is exported as a list of waypoints. Those waypoints are then uploaded to the drone via a ground control station software such as Mission Planner. The drone will then fly automatically through those waypoints.

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[fanzadownload]

I have found the reason for the poor performance of uav path planning in Cartesian coordinates. After designing a new code, I have been able to reproduce the result of some comparison algorithms in your paper (PSO, QPSO...) Thank you very much！

[duongpm]

Hi, I think Phi0 = atan2 (dirVector (2), dirVector (1)) is correct since it is the angle of the direction vector and should be calculated as atan2(y/x).

[bit1120180463]

Dear Professor Manh Duong Phung,I have a problem with TIF file which is used in the code to get the elevation information.When I downloaded it,I found it can't be read in the code.After I checked with Windows Painting Tool, the TIF file turned out to be blank.

And when I start the function 'CreatModel.m',H is showed as NaN.

Maybe the TIF file didn't work out,but I really want to learn from this article and code!Would you please send me a copy of the TIF file that was packed in the ZIP to my e-mail?In case the file has something wrong.My e-mail address is 1582979780@qq.com. I would appreciate it if you send me the copy!Thanks!

[MahdiOmidvar]

Dear Professor Manh Duong Phung, I am a graduate student studying path planning optimization algorithms. I read your new paper, Safety-enhanced UAV Path Planning with Spherical Vector-based Particle Swarm Optimization. you compared with another method like GA, when I implement the genetic algorithm and use your DEM, I get different results. Therefore, I wonder if you can send me the genetic algorithm code you wrote. Thank you. Email: m.omidvar404@gmail.com

[pjw2146087]

I have found the reason for the poor performance of uav path planning in Cartesian coordinates. After designing a new code, I have been able to reproduce the result of some comparison algorithms in your paper (PSO, QPSO...) Thank you very much！

hello，l see your reproducing work for the path planning of the UAV in the Cartesian coordinate system of PSO，Is it convenient to send me a code for learning？ Email: 260017926@qq.com Thank you very much for your help！

[honk1]

I have found the reason for the poor performance of uav path planning in Cartesian coordinates. After designing a new code, I have been able to reproduce the result of some comparison algorithms in your paper (PSO, QPSO...) Thank you very much！

hello，l see your reproducing work for the path planning of the UAV in the Cartesian coordinate system of PSO，Is it convenient to send me a code for learning？ Email: 260017926@qq.com Thank you very much for your help！

Did you receive the source code of the PSO in Cartesian coordinate system? Could you please send me a copy of it ? thx

[honk1]

I have found the reason for the poor performance of uav path planning in Cartesian coordinates. After designing a new code, I have been able to reproduce the result of some comparison algorithms in your paper (PSO, QPSO...) Thank you very much！

My PSO code also had poor performance in Cartesian coordinates. Could you please tell me how you fix the problem? How to designing a new code ?

[Wonder9988]

您好，看到您对粒子群算法笛卡尔坐标系下无人机路径规划的复现工作，方便发个代码给我学习吗？ 邮箱：fei_wang1098@outlook.com