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

arXiv:2507.13647v2 Announce Type: replace-cross 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 t