[1]MO Hongwei,MA Jingwen.Four-rotor route planning based on the ant colony algorithm[J].CAAI Transactions on Intelligent Systems,2016,11(2):216-225.[doi:10.11992/tis.201509009]
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Four-rotor route planning based on the ant colony algorithm

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 2 Page number: 216-225 Column: 学术论文—机器学习 Public date: 2016-04-25
Title:
Four-rotor route planning based on the ant colony algorithm
Author(s):
MO Hongwei;  MA Jingwen
College of Automation, Harbin Engineering University, Harbin 150001, China
Keywords:
four-rotor unmanned aerial vehicle; route planning; three-dimensional environment model; ant colony algorithm; strategy of converting the main direction to search; track simplification strategy
CLC:
TP18
DOI:
10.11992/tis.201509009
Abstract:
Given a four-rotor unmanned aerial vehicle’s characteristics and complex flight environment, as well as the accuracy of the global positioning system in the environment model, the establishment of a 3D environment model based on elevation maps has reduced the probability of encountering obstacles. In terms of planning algorithms, most of the existing path planning algorithms can only plan 2D paths. Numerous 3D planning algorithms have complex computations and require much storage space. A global path is also difficult to plan. The advantages of the ant colony algorithm include distributed computing and swarm intelligence. Moreover, this algorithm has great potential in path planning. However, when the fundamental ant colony algorithm is used in a 3D track search, the two directly connected planes easily track straight through obstacles. The track then includes more nodes, and the fitness value becomes too large. The algorithm was improved to address these issues by proposing the strategy of converting the main direction to search and the simplified track strategy. Ant simulation results showed that the improved algorithm could avoid obstacles, reduce path length, and improve search efficiency.
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