PPSwarm: Multi-UAV Path Planning Based on Hybrid PSO in Complex Scenarios

Abstract

Evolutionary algorithms exhibit flexibility and global search advantages in multi-UAV path planning, effectively addressing complex constraints. However, when there are numerous obstacles in the environment, especially narrow passageways, the algorithm often struggles to quickly find a viable path. Additionally, collaborative constraints among multiple UAVs complicate the search space, making algorithm convergence challenging. To address these issues, we propose a novel hybrid particle swarm optimization algorithm called PPSwarm. This approach initially employs the RRT* algorithm to generate an initial path, rapidly identifying a feasible solution in complex environments. Subsequently, we adopt a priority planning method to assign priorities to UAVs, simplifying collaboration among them. Furthermore, by introducing a path randomization strategy, we enhance the diversity of the particle swarm, thereby avoiding local optimum solutions. The experimental results show that, in comparison to algorithms such as DE, PSO, ABC, GWO, and SPSO, the PPSwarm algorithm demonstrates significant advantages in terms of path quality, convergence speed, and runtime when addressing path planning issues for 40 UAVs across four different scenarios. In larger-scale experiments involving 500 UAVs, the proposed algorithm also exhibits excellent processing capability and scalability.

Keywords

• unmanned aerial vehicle (UAV)
• path planning
• particle swarm optimization
• prioritized planning methods
• RRT*