UAV Path Planning Method Based on Modified White Shark Optimization

Path planning of Unmanned Aerial Vehicle (UAV) in the three-dimensional environment is an important and complex work. In this paper, a UAV path planning method based on modified WSO (White Shark Optimization) is proposed. Aiming at the problem that traditional WSO has slow convergence speed and is difficult to get away local optimal, the proposed method modifies the probability parameters of WSO to adapt to the optimization process and further coordinate all stages of the algorithm search process. In addition, referring to the wave theory, the trajectory motion equation of fluid particles in the micro amplitude wave theory is introduced, and the exploration process of the algorithm is improved combined with the spiral search method of the whale optimization algorithm. The experimental results demonstrate that the modified algorithm which studied in this paper has faster convergence speed and better ability to get away from local optimization. Using the modified algorithm for path planning, an optimal path avoiding obstacles and threat areas can be obtained, which proves the effectiveness of the proposed method in UAV path planning.