A Path Planning for Unmanned Helicopter in Urban Environment
Pengfei Zhai, Yuxin Tian, Y. A. Lei, Shouzhao Sheng · 2024
For the safety and reliability requirements of unmanned helicopter path planning in urban environments, this paper conducts research on path planning for unmanned helicopters in three-dimensional urban environments. First, a DEM raster method is used to model the three-dimensional urban environment. Secondly, the heuristic function of the ant colony algorithm is designed according to the constraints of path planning in urban environments. To address the issues of low path search efficiency and poor quality of the paths planned by traditional ant colony algorithms, improvements are made. The improved ant colony algorithm is then used for path planning in the three-dimensional urban environment. Finally, simulations are conducted to verify the feasibility of the modeling and path planning algorithm.