The Research And Application For Route Planning Of Multi-UAV Based On Improved Ant Colony Algorithm

With the rapid development of China's aviation industry,low-altitude vehicles are being used more and more in the military and civil sector.It is an inevitable requirement for the development of the times to develop and use low-altitude airspace in a scientific,rational and adequate manner.At present,with the gradual increase of low-altitude aircraft,the density of low-altitude airspace units is also increasing.Safe and effective route planning can maximize the utilization of low-altitude airspace.Route planning is for low-altitude aircraft planning out from the starting point to the target point of the route in complex environments.Ant colony algorithm is an intelligent optimization algorithm used to find the optimal path.It has strong robustness and good searching ability,but the ant colony algorithm is easy to fall into local optimum and search for a long time.In order to solve these problems,this paper improves the traditional ant colony algorithm firstly,and then route planning for multi-UAVs with the timelines,finally,multi-UAVs' route planning of the three dimensional is applied to the multi-UAVs' regulatory system.An improved global search ant colony algorithm is proposed in this paper,which basic ant colony algorithm is easy to fall into local optimum and search for a long time.The basic idea of improving ant colony algorithm is to increase the pheromone adjustment factor in the pheromone update of the basic ant colony algorithm,and pheromone adjustment factor can regulate the pheromone concentration on each point effectively to avoid excessive concentration of pheromones on each point.Reasonably update the pheromone on the path to avoid falling into the local optimum.The improved algorithm was verified by simulation in MATLAB.Finally it is concluded that the improved ant colony algorithm overcomes the shortcoming of the ant colony algorithm and improves the global search capability,which lays the foundation for the next route planning of multi-UAVs by Comparing the improved ant colony algorithm before and after simulation was compared and analyzed.This paper introduces the concept of timeline based on the improved ant colony algorithm for the route planning of multi-UAVs in three dimensional space.Using the ant colony algorithm for the waypoint selection,and the selected waypoint marked on the moment.The timeliness of this paper is to establishment the one-to-one mapping relationships between the UAV and the location point and the time point,and then use the time point to determine the UAV and UAV,whether there is a conflict between the existence of time,the final completion of multi-UAV route planning.Multi-UAV route planning method proposed in this paper has carried on the simulation in MATLAB,and contrast analysis through simulation timeliness of route planning and timeliness of route planning through.It is concluded that the timeliness of route planning method can effectively plan the multi-UAV routing,and under the premise of the safety of all UAVs,each UAV's path is the shortest by comparing the route planning of timeliness and the route planning of notimeliness simulation was compared and analyzed.Finally,we need to apply this method to the flight plan application module of the UAV regulatory system,the method that the multi-UAVs route planning proposed in this paper.UAVs need to apply to the supervision system for flight plan before UAV flight,application needs indicating the departure time,the starting point and landing point.The regulatory system will be plan the route for UAVs which pass the flight plan based on the UAVs' route planning method proposed in this paper.In this way,the multi-UAVs' route planning proposed in this paper is applied to practical applications.