Real-time Route Re-planning based on Modified Particle Swarm Optimization Algorithm

In this paper, the problem of three-dimensional real-time route replanning for Unmanned Aerial Vehicl(UAV) is formally defined, and the route penalty degree is used to evaluate the route. A modified particle swarm optimization algorithm (M-PSO) is proposed to solve the real-time route replanning problem. The Simulation results show that the modified particle swarm optimization algorithm has better real-time and stability in solving the 3D real-time route replanning problem. It can quickly search for routes that can avoid all threat and make the individuals in the population reach convergence state.