关键词: 三维航迹规划, 信息素调整因子, 路径偏移因子, 蚁群算法

Abstract:

For overcoming the disadvantages of traditional ant colony algorithm in UAV 3D path planning, such as slow convergence speed and high space complexity, this paper proposes a 3D path planning method for UAV based on improved ant colony algorithm. In this method, the local search strategy and the initial pheromone adjustment factor are improved, and the path offset factor is added to the heuristic function, which reduces the complexity of the path search space and improves the search efficiency and convergence speed of the algorithm. In the search space established using DEM digital elevation data, compared with existing algorithms, the algorithm in this paper shortens the planning path by 24.08%, and the running time of the algorithm is reduced by about 11.56%, which show the feasibility and effectiveness of the improved ant colony algorithm in the 3D path planning of UAVs.

Key words: 3D path planning, pheromone adjusting factor, path offset factor, ant colony algorithm