A Grid-Map-Oriented UAV Flight Path Planning Algorithm Based on ACO Algorithm

  • Wei Tian
  • Zhihua YangEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 516)


With the extensive applications of unmanned aerial vehicle (UAV), typical algorithm for path planning is usually restricted for its low efficiency and easy failure, especially for the complex obstacle environments. Therefore, in this paper, a new UAV path planning algorithm is proposed based on ant colony optimization (ACO) for such complex obstacle environment. In particular, the proposed algorithm optimizes the distribution of pheromones and modifies the transfer probability by considering the regional security factors. As a result, it can increase search speed and avoid local optimum and deadlock. Simulation results verify the feasibility and effectiveness of the proposed method.


UAV Path planning Grid map ACO 



The authors would like to express their high appreciations to the supports from the Shenzhen Basic Research Project (JCYJ20150403161923521, JCYJ20170413110004682 and JCYJ20150403161923521).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Communications Engineering Research CenterShenzhen Graduate School, Harbin Institute of TechnologyShenzhenChina

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