UAV SWARM Algorithm in 3D Environment.

This project aims to deploy the UAV swarms in sophisticated 4D environments like smart cities, Wildest forests, or mountainous areas. The initial indicators included 3D geographic location information (longitude, latitude, height) and time for the UAV swarm. We design a realistic mission map with multiple tier task points, and the UAV swarms aim to ergodic each task in the target area. Each UAV's trajectory follows the decision-making (reinforcement learning) algorithm, and the UAV swarm motion trail follos the particle swarm optimization (PSO) algorithm to find the shortest planning, respecting collision avoidance, and collaborating with the target task during the flight.