Modified ITO Algorithm for Path Planning of Multi-UAVs

In order to overcome the defects of slow convergence speed and high probability into local optimal solution of the traditional ITO algorithm, a modified ITO algorithm is proposed, which redesigned the adjustment function of ambient temperature and modified the update rule of path weight when the particles drift and fluctuation, so that the particles more accord with the characteristics of Brownian motion. Compared with the other path planning algorithms, the results have shown that modified ITO algorithm has advantages of shorter path length, less time consuming, and accelerated convergence speed. At the same time, the weight coefficients of each factor are linearly adjusted in the optimization process, which ensures the diversity of the initial population and the ability of traversal optimization in the later period, and improves the efficiency and stability of path planning.