Path Planning of Plant Protection UAV Based on Improved Ant Colony Algorithm
Aiming at the problems of ant colony algorithm in the path planning problem of plant protection UAV with multiple obstacles,such as premature maturity and easy fall into local optimum,the paper proposes an improved ant colony algorithm.First,in order to reduce the probability of the algorithm falling into the local optimum,the heu-ristic factor was improved.In the later stage of the path search,the distance from the current point to the end point ob-tained by the greedy algorithm was used as a new heuristic factor.Secondly,in order to improve the global search abil-ity of the algorithm,the volatility coefficient was adjusted adaptively.Finally,the maximum and minimum ant colony strategy was used to limit the concentration of pheromone to avoid the premature maturity of the algorithm.The simu-lation results show that the improved ant colony algorithm has better performance and stronger path optimization ability under complex operating environments.
Plant protection UAVPath planningObstacle avoidanceImproved ant colony algorithm
NETL
NSTL
万方数据
维普
