UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm

<div>Multi-swarm PSO topologies. Each swarm is divided into sub-swarms. The particles within a sub-swarm have a global topology, and a ring topology is used between sub-swarms.</div>

International Journal of Aerospace Engineering

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Figure 10

Figure 10: UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm 