Abstract
Urban drone applications require efficient path planning to ensure safe and optimal navigation through complex environments. Drawing inspiration from the collective intelligence of animal groups and electoral processes in human societies, this study integrates hierarchical structures and group interaction behaviors into the standard Particle Swarm Optimization algorithm. Specifically, competitive and supportive behaviors are mathematically modeled to enhance particle learning strategies and improve global search capabilities in the mid-optimization phase. To mitigate the risk of convergence to local optima in later stages, a mutation mechanism is introduced to enhance population diversity and overall accuracy. To address the challenges of urban drone path planning, this paper proposes an innovative method that combines a path segmentation and prioritized update algorithm with a cubic B-spline curve algorithm. This method enhances both path optimality and smoothness, ensuring safe and efficient navigation in complex urban settings. Comparative simulations demonstrate the effectiveness of the proposed approach, yielding smoother trajectories and improved real-time performance. Additionally, the method significantly reduces energy consumption and operation time. Overall, this research advances drone path planning technology and broadens its applicability in diverse urban environments.