A*and Ant Colony Fusional Composite Heuristic Path Planning Algorithm
In order to improve the efficiency of UAV patrol exploration task and plan an optimal flight path,a compound heuristic A*ant colony path planning algorithm is proposed to solve the problems of low search efficiency,too much iterations and many path in-flection points when ant colony algorithm is applied to UAV path planning.Firstly,A*algorithm is used to pre-search the differentiated initial pheromone to reduce the blindness of the ant colony algorithm.Then a composite heuristic function is constructed,an A*heuristic idea is introduced to construct the ant colony path length heuristic function,and the path smoothness evaluation function is designed.Fi-nally,the pheromone update rule is improved,and the path comprehensive score index is introduced,so that the path with the best com-prehensive performance score is retained as much as possible in each iteration.Simulation experiments show that the improved algorithm solves the problem of too many inflection points to a certain extent,improves search efficiency,and the comprehensive performance index is better than the basic algorithm compared with the literature algorithm,which has certain engineering significance.
国家科技期刊平台
NSTL
万方数据
