“…In recent years, many studies has have been done for USV flight path planning and swarm intelligence algorithm has been popularly used, including particle swarm optimization (PSO) (Xin et al, 2019 ; Krell et al, 2022 ), artificial fish swarm algorithm (Zhao et al, 2022 ), ant colony algorithm (Wang et al, 2022 ), genetic algorithm (GA) (Park et al, 2021 ), and etc. Among these intelligent algorithms, particle swarm optimization is the most widely used in the field of automatic control because of its simple principle, fewer parameters, fast optimization speed, small amount of calculation and other advantages (Khayati et al, 2019 ). At present, the application of particle swarm optimization algorithm in robot path planning is very active (Chen and Sun, 2021 ; Wu et al, 2022 ; Xiao et al, 2022 ), but the research on USV flight path planning is still a frontier field.…”