Improved Particle Swarm Path Planning for Ultraviolet Cooperative Drone Penetration

Taifei Zhao; Haochen Du; Yuqi Chen; Borui Zheng; Shuang Zhang

doi:10.3788/LOP241281

Laser & Optoelectronics Progress, Volume. 62, Issue 3, 0306001(2025)

Improved Particle Swarm Path Planning for Ultraviolet Cooperative Drone Penetration

Taifei Zhao^1,2、*, Haochen Du¹, Yuqi Chen¹, Borui Zheng¹, and Shuang Zhang¹

Author Affiliations

¹Faculty of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, Shaanxi , China

²Key Laboratory of Wireless Optical Communication and Network Research in Xi’an City, Xi’an University of Technology, Xi’an 710048, Shaanxi , China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(16)

Fig. 1. Plan diagram for maintaining the leading link within the formation. (a) Airborne hemispherical MIMO model; (b) maintaining the UV light guidance link among multiple machines

Download full size

Fig. 2. Chaos distribution

Download full size

Fig. 3. Pseudo code of the MRPSO algorithm

Download full size

Fig. 4. Terrain threat model. (a) UAV cluster terrain collision map; (b) UAV formation topology map

Download full size

Fig. 5. Rendering of penetration path planning in radar-free environments. (a) Front view; (b) side view

Download full size

Fig. 6. Convergence curve of fitness value in radar-free environments

Download full size

Fig. 7. Distribution of simulation results in radar-free environments. (a) Fitness value; (b) penetration success rate

Download full size

Fig. 8. Effect diagram of penetration path planning in complex radar environments. (a) Front view; (b) side view

Download full size

Fig. 9. Fitness value convergence curve in complex radar environments

Download full size

Fig. 10. Distribution of penetration success rate in complex radar environments. (a) Ultraviolet collaboration; (b) radio collaboration

Download full size

Fig. 11. Distribution of fitness values in complex radar environments. (a) Ultraviolet collaboration; (b) radio collaboration

Download full size

Fig. 12. Comparison of different collaboration methods across four algorithms. (a) Penetration success rate; (b) fitness value

Download full size

Table 1. Algorithm parameters

View table

Table 1. Algorithm parameters

Parameter	Symbol	Value
Particle population size	$M$	50
Maximum iteration times	$t_{m a x}$	100
Maximum social coefficient	$c_{1 m a x}$	2.5
Minimum social coefficient	$c_{1 m i n}$	0.5
Maximum cognitive coefficient	$c_{2 m a x}$	2.5
Minimum cognitive coefficient	$c_{2 m i n}$	0.5
Maximum inertia coefficient	$ω_{m a x}$	1
Minimum inertia coefficient	$ω_{m i n}$	0.4
Chaotic distribution coefficient	$r$	0.7
Simulation space		100×100×100
Initial position	$s t a r t p o s$	（1，1，1）
Final position	$g o a l p o s$	（100，100，30）
Current particle index	$i$
Current generation index	$t$

Table 2. Simulation results in radar-free environments

View table

Table 2. Simulation results in radar-free environments

Algorithm	Collision rate /%	Path length /km	Energy consumption rate /%	Penetration success rate /%	Fitness value
PSO	7.50	1.59	13.25	79.25	219.49
SPSO	26.25	1.54	12.81	57.19	286.29
MGPSO	11.25	1.59	13.29	79.22	216.29
MRPSO	0	1.57	13.10	86.90	187.29

Table 3. Radar detection area parameters
View table
Table 3. Radar detection area parameters
Radar serial number Coordinate Radius /km Height /km Radar detection probability /%
1 （40，50） 0.1 0.9 20
2 （50，20） 0.1 0.9 20
3 （20，85） 0.1 0.9 20
4 （65，88） 0.1 0.9 20
5 （85，55） 0.1 0.9 20

Table 4. Simulation results table in complex radar environments

View table

Table 4. Simulation results table in complex radar environments

Algorithm	Collision rate /%	Path length /km	Radar exposure probability /%	Energy consumption rate /%	Penetration success rate /%	Fitness value
PSO	3.75	1.75	19.69	14.57	61.99	254.22
SPSO	33.75	1.49	16.81	13.24	36.19	321.31
MGPSO	0	1.65	20.82	13.87	65.32	232.81
MRPSO	0	1.74	5.34	14.48	80.18	217.74

Tools

Get Citation

Copy Citation Text

Taifei Zhao, Haochen Du, Yuqi Chen, Borui Zheng, Shuang Zhang. Improved Particle Swarm Path Planning for Ultraviolet Cooperative Drone Penetration[J]. Laser & Optoelectronics Progress, 2025, 62(3): 0306001

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites