Fuente: PubMed "swarm" Sci Rep. 2026 Jun 1. doi: 10.1038/s41598-026-55326-x. Online ahead of print.ABSTRACTThis study proposes a three-dimensional path planning method for UAV swarms using the Multi-Strategy Improved Crested Porcupine Optimizer (ICPO), designed to enable UAVs to more effectively avoid obstacles and optimize flight paths. This study integrates tent mapping with the reverse refraction learning strategy to enhance the diversity of the algorithm's population. Inspired by animal escape behavior, the first defense strategy is replaced with a moving escape strategy to expand the global search. The fourth defense strategy is improved using a Cauchy distribution, making the probability distribution independent of the global optimal solution, thereby rendering the search process independent and flexible while reducing computational complexity. To avoid getting stuck in local optima later in the process, a Cauchy-Gaussian mutation strategy was introduced, enabling the algorithm to better escape local optima. Simulations were conducted on the 2005 and 2022 test sets, and the results demonstrated that ICPO exhibits superior robustness and stability. In 3D terrain simulations, the ICPO algorithm proved its effectiveness in path planning.PMID:42225910 | DOI:10.1038/s41598-026-55326-x