基于改进蚁群算法的山区无人机路径规划方法

This paper studies the UAV flight route planning problem when carrying out emergency cargo transportation mission in mountainous area. Based on the performance analysis and comparison of UAVs, constraints of path planning is discussed, and an improved ant colony algorithm considering path safety is proposed. Firstly, a Tyson polygon is formulated based on the location of high altitude mountains, and then a feasible UAV path solution under flight condition of obstacle avoidance in mountainous area is obtained. Secondly, in order to avoid dense peaks area, path safety constraints are built. Thirdly, the shortest path is searched by ant colony algorithm. Finally, the unnecessary obstacles in the path are eliminated so as to further shorten the distance, and the corners are smoothed considering the performance parameters of UAVs, generating the optimal safe path which can ultimately be used for an actual flight. The example analysis shows the improved ant colony algorithm converges faster and generates shorter path than traditional one.