海军航空大学学报2025，Vol.40Issue(4)：519-527,538,10.DOI:10.7682/j.issn.2097-1427.2025.04.002
基于改进蚁群算法的无人机三维平滑路径规划方法
3D Smooth Path Planning Method for UAV Based on Enhanced Ant Colony Algorithm
摘要
Abstract
A smooth path planning method based on improved ant colony algorithm and cubic spline interpolation is pro-posed,aiming at the problem of three-dimensional path planning of UAV in obstacle environments.Compared with the tra-ditional ant colony algorithm,the proposed method effectively avoids the algorithm from falling into the local optimum by introducing angle heuristic function and dynamic heuristic factor;at the same time,the pheromone volatilization factor with normal distribution is adopted to significantly improve the search efficiency of the optimal path.After the path search is completed,the path is smoothed by cubic spline interpolation to ensure the continuity and executability of the path.The simulation experimental results show that the proposed method can generate the optimal smooth path in a shorter time,which is significantly better than the traditional method.关键词
路径规划/平滑路径/蚁群算法/三次样条函数Key words
path planning/smooth path/ant colony algorithm/cubic spline function分类
信息技术与安全科学引用本文复制引用
赵振华,王昊,聂佩晗..基于改进蚁群算法的无人机三维平滑路径规划方法[J].海军航空大学学报,2025,40(4):519-527,538,10.基金项目
江苏省自然科学基金优秀青年基金(BK20230091) （BK20230091）
国家自然科学基金青年基金(61903192) （61903192）
