Improved particle swarm optimization algorithm: multi-target trajectory optimization for swarm drones

TL;DR

This paper introduces PE-PSO, an enhanced particle swarm optimization algorithm with a multi-agent framework for real-time, multi-UAV trajectory planning in dynamic environments, improving efficiency and adaptability.

Contribution

The paper presents PE-PSO with a persistent exploration mechanism and entropy-based adaptation, combined with a multi-agent framework for scalable, real-time UAV swarm trajectory optimization.

Findings

PE-PSO outperforms traditional PSO in trajectory quality and energy efficiency.

The multi-agent framework enables scalable, real-time UAV swarm coordination.

Simulations confirm improved obstacle avoidance and reduced computation time.

Abstract

Real-time trajectory planning for unmanned aerial vehicles (UAVs) in dynamic environments remains a key challenge due to high computational demands and the need for fast, adaptive responses. Traditional Particle Swarm Optimization (PSO) methods, while effective for offline planning, often struggle with premature convergence and latency in real-time scenarios. To overcome these limitations, we propose PE-PSO, an enhanced PSO-based online trajectory planner. The method introduces a persistent exploration mechanism to preserve swarm diversity and an entropy-based parameter adjustment strategy to dynamically adapt optimization behavior. UAV trajectories are modeled using B-spline curves, which ensure path smoothness while reducing optimization complexity. To extend this capability to UAV swarms, we develop a multi-agent framework that combines genetic algorithm (GA)-based task allocation with distributed PE-PSO, supporting scalable and coordinated trajectory generation. The distributed architecture allows for parallel computation and decentralized control, enabling effective cooperation among agents while maintaining real-time performance. Comprehensive simulations demonstrate that the proposed framework outperforms conventional PSO and other swarm-based planners across several metrics, including trajectory quality, energy efficiency, obstacle avoidance, and computation time. These results confirm the effectiveness and applicability of PE-PSO in real-time multi-UAV operations under complex environmental conditions.