关键词: 飞行器控制、导航技术, 无人机, 三维航路规划, 改进蚁群算法, 信息素, 能见度

Abstract: In order to ensure unmanned automatic vehicle (UAV) to reach the destination with minimum probability of being found in an acceptable path, a three dimensional path planning method was studied on the basis of an improved ant algorithm. First the model of three dimensioanl path planning of UAV was analyzed. Then an optimization of path planning with ant algorithm for UAV was given. To improve the efficiency of path planning, the message of the shortest path was introduced in the system as a searching guidance signal, and a modified nodes selection method was also given. For the validation of the effectiveness of the proposed method, it was used in the path planning of UAV and simulation results show that it can obtain optimum path.

Key words: control and navigation technology of aerocraft, unmanned automatic vehicle (UAV), threedimensional path planning, improved ant algorithm, pheromone, visibility