Research On Multiple Unmanned Aerial Vehicles Collaborative Path Planning Based On Improved Ant Colony Algorithm

With the continuous development of science and technology,UAVs are developing rapidly in both military and civilian fields.UAV path planning is the core of UAV cooperative control,and it is difficult for a single UAV to independently complete increasingly complex tasks,so it is of great significance to study multi-UAVs cooperative path planning.Firstly,this paper summarizes the relevant theories of UAV path planning,presents a formal description method of single UAV and multiple UAV collaborative path planning,and introduces the constraints of UAV path planning,environment modeling method and several common path planning methods.Secondly,this paper introduces the basic principle and algorithm flow of ant colony algorithm and swarm spider optimization algorithm,and proposes two improvement methods aiming at the shortcomings of classical ant colony algorithm in UAV track planning.The first improvement method is to add a guiding factor into the ant colony algorithm to enhance the purpose of ant search activities,so that the algorithm can find a feasible solution faster.In the second improved method,the colony spider optimization algorithm is integrated into the traditional ant colony algorithm.Finally,the specific steps and flow diagram of the improved algorithm are given,and the simulation experiment is carried out.The experimental results show that the improved ant colony algorithm can solve the problem of long search time and slow convergence speed of the traditional ant colony algorithm to some extent.Finally,this paper introduces the Dubins curve and the cyclotron curve,and USES the cyclotron curve as the path smoothing of this paper.In this paper,the problem of multi-UAV collaborative path planning is described,a collaborative criterion with the same path length is proposed,and a path planning method of "environment modeling-initial path planning-path smoothing-collaborative planning" is designed.Firstly,the initial path is obtained by the improved ant colony algorithm,and then the path is smoothed by the cyclotron curve to obtain the flightable path.To judge whether the UAV flying in the same group according to the planned path will collide,two methods of changing the curvature and the intermediate flight point algorithm are proposed to solve the collision problem.Finally,the simulation experiment is carried out.