Based on quantum-behaved particle swarm optimization (QPSO), a novel path planner for unmanned aerial vehicle
(UAV) is employed to generate a safe and flyable path. The standard particle swarm optimization (PSO) and
quantum-behaved particle swarm optimization (QPSO) are presented and compared through a UAV path planning
application. Every particle in swarm represents a potential path in search space. For the purpose of pruning the search
space, constraints are incorporated into the pre-specified cost function, which is used to evaluate whether a particle is
good or not. As the system iterated, each particle is pulled toward its local attractor, which is located between the
personal best position (pbest) and the global best position (gbest) based on the interaction of particles' individual
searches and group's public search. For the sake of simplicity, we only consider planning the projection of path on the
plane and assume threats are static instead of moving. Simulation results demonstrated the effectiveness and feasibility
of the proposed approach.
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