Unmanned Vehicle Path Planning based on Improved Ant Colony Algorithm

To address the matter that the normal ant colony algorithm in path planning cannot meet the problem of planning in three-dimensional environment, and the problem that there are too many turns in the planned path, a path planning strategy based on slope and terrain undulation constraints is proposed for the ant colony algorithm, and the number of turns is improved. In this paper, we present the concept of slope, add the slope and terrain undulation to the heuristic function move forward the state transfer probability, the pheromone update formula was improved by adding the number of turns to the pheromone update formula; in terms of environment modeling, at the same time, a 2.5-dimensional raster map is defined to represent the unevenness of the environment. And finally, it is verified by simulation experiments that the proposed algorithm can satisfy the path planning matter under the constraints of slope and number of turns, and the proposed algorithm is effective.