Abstract
It has discussed the approach to establish the models of terrain, threat and the evaluation of route cost in the route planning for UAV in low-altitude penetration. An Ant Algorithm is introduced into UAV route planning, since stagnation may appear during searching in use of traditional ant colonies algorithm,this paper introduces yaw angle to improve heuristic information, establishes the prior search set, makes ant colony algorithm the more rapid and effective search to the best route, simulation results prove the efficiency of the planning method.
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