UAV path planning based on modified ant colony algorithm and DUBINS curves

In view of the communication loss caused by the heavy rain and other major natural disasters in Henan Province, when the emergency vehicles could not enter the scene, in order to quickly restore the communication, the method of unmanned aerial vehicle(UAV) flying over the affected area to set up a temporary base station is studied. The UAV needs to avoid obstacles, so a path planning method based on the combination of modified ant colony algorithm and DUBINS curves is proposed. By this algorithm, the global path of UAV is shorter, the path is smooth and the kinematics constraint is satisfied. Finally, the feasibility, validity and superiority of the proposed algorithm are showed by comparing with the basic ant colony algorithm.