Event-Triggered PSO-APF Hybrid Algorithm for Single-UAV Path Planning in Obstacle Environments

IEEE Communications Letters 2026

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Authors: Heng Zhang, Liang Yuan, Chaoqun Yang, Xianghui Cao, Ming Li, Meng Huang, Jian Zhang
DOI: 10.1109/lcomm.2026.3670451
Cited by: 1
References: 18

Abstract

This letter addresses real-time single-UAV path planning in obstacle-rich environments and proposes an ET-PSO-APF. An enhanced artificial potential field provides fast local guidance, while a risk index with hysteresis and a refractory period triggers PSO-based local replanning only when reliability degrades. Once activated, PSO searches within an adaptive window and horizon; a fallback ensures safety if optimization stalls. Simulations across sparse, normal, and complex fields show ET-PSO-APF yields shorter, smoother, and safer trajectories with modest runtime compared with H-PSOAPF, PSO, and APF algorithm.

Fields of Study & Subjects

Robotic Path Planning Algorithms Spacecraft Dynamics and Control Control and Dynamics of Mobile Robots

Publication details

Journal / source
IEEE Communications Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Volume
30
Pages
1460–1464
Publication date
1 January 2026