Black zone-introduced express unmanned aerial vehicle track planning method based on A<*> and ant colony hybrid algorithm

Abstract

The invention discloses a black zone-introduced express unmanned aerial vehicle track planning method based on an A<*> and ant colony hybrid algorithm. Firstly, the coordinates of an obstacle and thecoordinates of a site express cabinet are determined, a no-fly zone and the obstacle are ignored, and an ant colony algorithm is used to make a track; the starting point, the transit point and the endpoint of the route are confirmed, and an initial route is determined; net points are built, the length and the width of the net are both set to be S m, the margin of at least three net points is built along the edge of the obstacle or the no-fly zone, and the obstacle net and the surrounding margin net are defined as black zones; whether the section of each route passes through the obstacle is judged, if the route passes through the black zone, judgment is made starting from the starting point, an A<*> algorithm is used sequentially until the route bypasses all obstacles or no-fly zones, andexpress unmanned aerial vehicle track planning is completed. The black zones are introduced, the advantages of hybrid use of the A<*> and ant colony hybrid algorithm are integrated, the planned unmanned aerial vehicle track is more reasonable, the route is shorter, and the unmanned aerial vehicle consumes less energy.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle path planning, relates to an unmanned aerial vehicle track planning, in particular to a delivery unmanned aerial vehicle track planning method which introduces the mixed algorithm of A* and ant colony in the black area. Background technique [0002] Nowadays, drones have been applied to many fields. With the rapid development of the express delivery industry, express delivery has gradually become a rigid demand in people's lives. However, with the increasingly fierce competition among major express delivery companies, people's requirements for the time and cost of express delivery are becoming higher and higher. However, due to the limitations of land transportation and other factors, it is difficult to make a major breakthrough in the express delivery time of land transportation. Therefore, the use of drones to transport express delivery has become the focus of major express delivery compa...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the common ones for UAV track planning are A* and ant colony hybrid algorithm planning, but each algorithm has its own advantages and disadvantages, and it is also used independently in the prior art, due to different principles It is difficult to put them together

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