UUV (Unmanned Underwater Vehicle) ant colony path planning method for bidirectional search under multiple obstacles

The invention aims to solve the problems that a traditional ant colony method is easy to fall into a local optimal path and the iteration time is too long in path planning, and discloses a UUV ant colony path planning method for bidirectional search under multiple obstacles, and the method specifically comprises the steps: on the basis of the traditional ant colony method, aiming at the irregular shapes of most obstacles, solving the problem that the conventional ant colony method does not have a local optimal path; ideally, the barriers are grid-shaped and consistent in size. When a traditional ant colony method is used for searching a path from a starting point to a target point, an optimization path from the target point to the starting point is introduced, and the optimization speed is increased under the clamping of two optimization paths; intersection points and communication relations among the intersection points are introduced, the number of the intersection points is limited to avoid slow calculatio