Module path planning method based on improved ant colony algorithm

The invention discloses a module path planning method based on an improved ant colony algorithm, and belongs to the technical field of aviation. The method comprises the following steps: firstly, establishing a grid map, initializing each parameter and pheromone concentration, calculating the transfer probability of ants according to a path heuristic function and an obstacle avoidance strategy, and selecting the next moving grid point of the ants by adopting a roulette method; secondly, updating pheromones after the ants finish the search, and ending the algorithm after the iterative search requirement is met; and finally, according to a collision avoidance criterion, outputting a path after collision avoidance processing. The method has a good guiding effect on reconstruction planning, a functional module can be effectively guided to move in the direction closest to the shortest distance between an initial point and a target point, the path planning efficiency can be improved, and the problems of deadlock, r