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

Algorithm 2

Variable speed escape search algorithm pseudocode.

 Update the position by equation (4)

 Initialize the velocity of individual:  = 

 Set T = 0

 While the position can not reach

  If T = Tmax

    =  + 1

   If > 

    break

   End If

   Set T = 0

  End If

  T = T + 1

  If ≤

   Update the position by equation (12)

  End If

 End While