UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm

<div>Initial paths generated from the Voronoi diagram and Dijkstra algorithm. (a) Voronoi edges from SAM sites. (b) Voronoi edges from virtual points in addition to SAM sites. A circle denotes a starting point, and a diamond denotes a destination.</div>

International Journal of Aerospace Engineering

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Figure 9

Figure 9: UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm 