Ant Colony-Artificial Potential Field Fusion Path Planning Algorithm Based on a Maneuver Action Library

The traditional Ant Colony Algorithm has defects such as easy entrapment in local optima due to a simplistic heuristic function and slow convergence due to excessive search directions. A fusion path planning algorithm integrating ant colony optimization and artificial potential field based on a maneuver action library is proposed. Firstly, a mathematical model for UCAV path planning is established. Considering the maneuverability constraints of UCAVs, and drawing on the concept of basic maneuver action libraries for fighter aircraft, an ant colony-potential field fusion path planning algorithm based on a maneuver action library is introduced. Simulation results demonstrate that compared to two other algorithms, the proposed method significantly improves the number of waypoints and planning completion time.