A Novel Sparrow Particle Swarm Algorithm (SPSA) for Unmanned Aerial Vehicle Path Planning

Algorithm 1

Basic particle swarm algorithm pseudocode.

	Initialize
Set the basic parameters
For each particle
Initialize velocity and position of particles
Calculate fitness and set
End For
=
For each iteration
For each particle
Update the position and velocity using by (6) and (7)
Calculate the fitness
If <
=
End If
If <
=
End If
End For
End For
Return results
Terminate