Scientific Programming

Research Article

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

Sparrow particle swarm algorithm (SPSA) pseudocode.

Initialize
Set the basic parameters
Set the start point and target point
Initialize the position of each individual in the population using equations (10)–(12)
Oscillation optimization of all individuals trajectories
For each iteration
Initialize optimal fitness and worst fitness
For each producer
For each dimension
Update the position of by the equation (11)
Set T = 0
While the position can not reach and T < Tmax
Update the position of by the equation (11)
T = T + 1
End While
End For
End For
For each scrounger
For each dimension
Update the position of by the equation (4)
Set T = 0
While the position can not reach and T < Tmax
Update the position of by the equation (4)
T = T + 1
End While
If T ≥ Tmax
Search for the next position by adaptive escape using equation (12)
End If
End For
End For
For each individual that finds danger
For each dimension
Update the position of by the equation (5)
Set T = 0
While the position can not reach and T < Tmax
Update the position of by the equation (5)
T = T + 1
End While
End For
End For
Optimize adaptive oscillation using equation (13)
Update position of all individuals
Calculate and sort fitness values
End For
Perform node optimization on the optimal path and smooth optimization
Return results
Terminate