Fecha de publicación: 24/11/2022 Fuente: WIPO "swarm" A three-dimensional track planning method based on improved particle swarm optimization algorithm is disclosed. During the process of searching an optimal three-dimensional track in a track space, Different inertia weights are set in different particle swarm iterative evolution stages. A maximum inertia weight is used to make global convergence in a set early stage of evolution, and a minimum inertia weight is used to make local convergence in a set late stage of evolution. Disturbance mutation operation in a motion process of particles is added based on swarm diversity. Infeasible particles are selected based on constraints. Constraint violation functions of infeasible particles are compared, and infeasible particles with small constraint violation functions are kept. The disclosure makes full use of all particles, so that the infeasible solutions can also provide help for the overall optimization of the swarm, and ensures the reliability and efficiency of track planning