Path Planning with Unexpected Threats Based on Improved Method of PSO

Aiming at the path planning problem of Unmanned Aerial Vehicle ( UAV) with unexpected threats,an improved mutation Particle Swarm Optimization( PSO) algorithm and an expanding method of flight path nodes were proposed. Simulations were carried out. The problem of descended speed in late stage of PAO search was solved by introducing acuity variety complication. Coordinates conversion was used to avoid the lost of the local solutions when using unary polynomial as the horizontal path. Simulation result showed that the improved mutation PSO can improve the search speed and precision effectively,which is applicable to UAV path planning with unexpected threats.