基于改进蚁群算法的无人机航迹规划仿真研究

Simulation Research on UAV Route Planning Based on Improved Ant Colony Algorithm

目前,无人机在低空摄影测量中得到了广泛应用,航拍前需要对无人机进行航迹规划,由人工录取的航迹在地形起伏较大时存在易坠落坠毁的情况。本文针对无人机坠毁的情况,对空间进行划分,构建地形启发因子,通过改进后的蚁群算法寻找一条避开地形的航迹,最后利用B样条曲线对航迹进行平滑处理,实验结果表明改进后的蚁群算法在地形起伏较大时无人机飞行有较好的安全性且航迹真实、可飞。

At present,drones are widely used in low-altitude aerial photogrammetry.Before the aerial photography,it is necessary to make track plannig for drones.The track that is manually pulled has a situation of falling and crashing when the topography fluctuates greatly.The latter ant colony algorithm divides the space,constructs the terrain heuristic factor,and finally smoothes the track.The experimental results show that the improved ant colony algorithm has better safety when the terrain is undulating.