Improved Particle Swarm Algorithm for UAV Trajectory Planning in Urban Environment
HUANG Jin
LI Yunfei
LIU Hourong
WANG Shengchun
DING Weijie
Abstract：Good trajectory planning can greatly improve the efficiency of UAVs.A 3D trajectory planning method with im-proved particle swarm algorithm is proposed for the limitation of UAV trajectory planning by the complex low-altitude environment in cities.Firstly,the raster method is used to model the urban environment and transform the UAV trajectory planning problem into an easy-to-handle abstract space.Secondly,according to the characteristics of the particle swarm algorithm,an adaptive mecha-nism is introduced for the initialization of the particle swarm.Adaptive inertia weights and adaptive exponential learning factors are used.Traction acceleration is introduced for the update of the particle swarm.Then,with the UAV operation efficiency and opera-tion risk as the target,the UAV operation constraint is combined with the UAV operation.Then the target trajectory planning model is constructed with the objective of UAV operation efficiency and operation risk,combined with UAV operation constraint.The simu-lation is compared with the traditional genetic algorithm and traditional particle swarm algorithm,and it is verified that the improved algorithm has better solution quality.
Keywords：UAVthree-dimensional path planningparticle swarm algorithmurban environment
Publication Date：2023-10-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 77-81 )