A Novel UAV Path Planning Algorithm Based on Double-Dynamic Biogeography-Based Learning Particle Swarm Optimization

Abstract

Particle swarm optimization (PSO), one of the classical path planning algorithms, has been considered for unmanned aerial vehicle (UAV) path planning more frequently in recent years. A large amount of studies on UAV path planning based on modified PSO have been reported. However, most UAV path planning algorithms still optimize only one kind terrain problem which is mountain terrain. At the same time, many modified PSO algorithms also have some problems, such as insufficient convergence and unsatisfactory efficiency. In this paper, six kinds of terrain functions of UAV path planning are proposed to simulate real-world application. The terrain functions contain city, village without houses, village with houses, mountainous area without houses, mountainous area with houses, and mountainous area with a huge building. Inspired by CLPSO and BLPSO, we proposed a new double-dynamic biogeography-based learning particle swarm optimization (DDBLPSO) algorithm to solve these problems. The double-dynamic biogeography-based learning strategy replacing the traditional learning mechanism from the personal and global best particles is used to select the learning particles. In this strategy, each particle will learn from the better one of two selected particles which are not worse than itself. However, one random component of particle will replaced by corresponding component of other particle if all components of the particle only learn from itself. In this way, particles sufficiently learn from better objects and maintain the ability of jumping out of local optimality. The superiority of our algorithm is verified with four relevant algorithms, a PSO variant, and a BBO variant on the benchmark suite of CEC2015. Real-world application demonstrates that the algorithm we proposed outperforms four relevant algorithms, a PSO variant, and a BBO variant both in small-scale problems and large-scale problems. This paper shows a good application of our novel algorithm.