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Most path planning algorithms existed have disadvantages in space representation, constraints handling or computation efficiency. Combining particle swarm optimization with path planning problem for unmanned aerial vehicles (UAVs), a new path planner for aerial vehicles based on modified PSO algorithm is presented. Path planning problem is modeled as a 5-element array. Incorporating constraints into fitness evaluation reduces search space while a modified PSO algorithm is introduced to improve global optimization performance. Experiment results demonstrate that the proposed method is able to solve path planning problem effectively and provide a feasible path in a short time.