Method and device for planning information transmission path of wireless sensor network

The invention discloses an information transmission path planning method and device for a wireless sensor network, and the method comprises the steps: constructing a grid map of a signal transmission path according to a starting point and an ending point of signal transmission in the wireless sensor network; based on the distance of the information transmission path and the number of turning points, performing path search on the grid map by using an ant algorithm based on a bidirectional search strategy to obtain an initial optimal information transmission path; and constraining the linear velocity and angular velocity of the signal transmitted along the initial optimal information transmission path, and checking the turning point of the initial optimal information transmission path by using a dynamic window method to obtain a final information transmission path. According to the embodiment of the invention, the obstacle avoidance capability of the signal to the unknown obstacle in the transmission process ca