Improved PID-Based Search Algorithm for UAV 3D Path Planning

This paper aims at the UAV 3D path planning problem and proposes a new improved algorithm based on the PID-based search algorithm, which is called Improved PSA Algorithm with Integrated Particle Swarm Strategy. Firstly, Tent chaos mapping is used for initialization to generate a more widely distributed starting point set. Second, the particle swarm strategy is fused to the PSA algorithm to improve the global search capability. Finally, the search capability of the algorithm is enhanced by adjusting the search progress to change the search step size. Simulation and comparison experiments show that the improved PSA algorithm is optimal and robust in planning paths in mountainous terrains compared with other six metaheuristic algorithms.