UAV Flight Path Planning Simulation Based On Ant Colony Algorithm

With the advantage of UAV,such as miniaturization,low cost and high efficiency,UAV have been widely used in countries around the world in recent years.The high-precision images obtained by UAV can be widely used in urban planning,cadastral surveying,3D reconstruction,emergency relief,remote monitoring of land and resources,etc.,and the wide application of UAVs has also led to the flight of UAV more complicated.At present,low-altitude photographers are measured by UAV,and when UAV take off to the target area,the survey is based on the experience of the surveyor.The usual practice is to circle UAV to a height,which makes the hover height above the threat of the terrain and fly directly to the measuring area.This pathways increase the ineffective flight,and now with the national air control,regional military control and strengthening of natural factors,it is easy to cause the crash of UAV.In this paper,we study the range of UAV taking off to the survey area for low-altitude photogrammetry of UAV.Firstly,the grid partition is used to divide the space,and the constraint model is established,including the physical performance constraint model of UAV and the threat constraint model.Secondly,the improved ant colony algorithm is used to automatically find an algorithm to reach the target area,and the smooth trajectory is used to smooth the trajectory,so that the smooth track is suitable for the actual flight of the UAV.Finally,the simulation experiment of UAV to reach the survey area is realized by Matlab software.The simulation results show that the improved ant colony algorithm has better performance in the two-dimensional path planning and three-dimensional path planning,and the algorithm is based on the starting point and the target point near the line,the length of the planned track length is significantly shorter than that of the traditional contours,and the trajectories planned by the improved ant colony algorithm take into account the threats other than the terrain.The results show that the track smoothing satisfies the minimum turning radius and the maximum climb angle of the UAV.Therefore,the trajectory planned by Matlab software satisfies the actual flight of the UAV.