Unmanned aerial vehicle path planning method based on improved ant colony algorithm

• Main Authors: LIANG WEIBIN, FU QIANG, FU WENTAO, LI JINGJING, ZHENG JINYU, BAI YANG, JI YUANFA, LI LONG, ZHAO SONGKE, SUN XIYAN, WU JIANHUI, JIA QIANZI
• Format: Patent
• Language: Chinese; English
• Published: 22.08.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to the field of unmanned aerial vehicle path planning, in particular to an unmanned aerial vehicle path planning method based on an improved ant colony algorithm. The invention provides an improved ant colony algorithm. According to the algorithm, firstly, an evaluation function of an A * algorithm is added into a heuristic function, and meanwhile, an anti-bending weight coefficient is introduced, so that the number of path bending times and a large accumulated turning angle are reduced; secondly, improving an updating rule of pheromones by utilizing a pheromone allocation factor, and improving the convergence speed and the global optimality of the algorithm; and finally, introducing a fallback mechanism and a pheromone concentration penalty mechanism to solve the problem that the traditional ant colony algorithm is easy to fall into deadlock. A simulation result shows that compared with a traditional ant colony algorithm, the improved ant colony algorithm in a more complex map has the a