Optimization of Dynamic Obstacle Avoidance Path of Multirotor UAV Based on Ant Colony Algorithm

In this paper, the real-time path avoidance problem of multirotor UAV in case sudden obstacles two-dimensional environment is studied. The principle, model, and application ant colony algorithm are analyzed. On basis, adaptive dynamic window proposed, method designed; heuristic function adding obstacle detection factors double pheromone update strategy made to algorithm, improved used replan within that can be automatically adjusted achieve purpose avoidance. A simulation experiment planning was conducted by constructing an map MATLAB. results show with continuous increase number obstacles, replacement also gradually increases, when approaching more dense, indicating applied replacement, realize optimization under condition a short time.