摘要：Aiming at the problems of long search time and local optimal solution of ant colony algorithm (ACA) in the path planning of unmanned aerial vehicle (UAV), an improved ant colony algorithm (IACA) was proposed from the aspects of simplicity and effectiveness. The flight performance constraints of fixed wing UAVs were treated as conditions of judging whether the candidate expanded nodes are feasible, thus the feasible nodes’ number was reduced and the search efficiency was effectively raised. In order to overcome the problem of local optimal solution, the pheromone update rule is improved by combining local pheromone update and global pheromone update. The heuristic function was improved by integrating the distance heuristic factor with the safety heuristic factor, and it enhanced the UAV flight safety performance. The transfer probability was improved to increase the IACA search speed. Simulation results show that the proposed IACA possesses stronger global search ability and higher practicability than the former IACA.
关键词：UAV;Path planning;IACA;Pheromone;Heuristic function
