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

Table 1

Initialization of SPSA parameters.

Parameters	Symbol	Value
Warning value	ST	0.6
Scrounger ratio	JD	0.3
Producer ratio	PD	0.7
The proportion of sparrows who are aware of the danger	SD	0.2
Total group number	G	30
Number of iterations	M	1000
Maximum speed	V	5
Minimum speed	V	1
Maximum number of cycles	Tmax	10