Path planning plays a significant role on the unmanned aerial vehicle(UAV)mission planning.It is aiming at finding a safest UAV trajectory of optimal flying cost,considering the battlefield environment and other mission requirements.Based on the parallel ability of ant colony optimization(ACO)algorithm,a multi-precision planning window method is proposed.Based on the initial trajectory,it can automatically set multiple local planning windows with specifical planning precisions and optimization parameters,and then parallel path modification in a short time.Simulation analysis shows that the algorithm parameters configuration and planning accuracy are different in different battlefield environments.Through the optimization and adjustment of multi-precision planning window,the final flight path can adapt to different battlefield environment,and has better planning efficiency and accuracy.
维普
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