Integrated planning of UAV 3D trajectory based on ant colony algorithm

To address the problem of UAV trajectory planning optimality, a dynamic multi-objective optimal path model is established based on satisfying the basic conditions of UAV flight constraints, taking into account the time window restricted area and radio interference threat, etc. comprehensively. Based on the characteristics of the complex environment, an ant colony algorithm with reduced adaptive step size is constructed based on the theory of ant colony algorithm to quickly plan the best safe UAV trajectory in the complex dynamic environment. Simulation results show that the model can meet the complex airspace conditions of UAV missions, while the algorithm can find shorter trajectories and shorten the search time.