International Core Journal of Engineering 2020-26 | Page 150

earthquake in a mountainous area of Sichuan hindered the
earthquake. Point(0m,0m)To Point(10000m,10000m)need to
use drones to remove emergency supplies from Point
Transport to In the flight area, there are 50 mountains that pose
a threat to drone flight, and the threat point distribution is
shown in Figure 3.
&
$
%
2
Set path safety, when the minimum distance of the threat
point from the drone is greater than 400m, the safety level is
1.0, when the minimum distance is 250 to 400m, the safety
value is 0.6, and when the distance is less than 250m, the
'
Fig2(a): Judgement of UAV’s cross of danger zone
safety value is 0.0.set the iteration step M
200 ,Number of
K
500
,Initial concentration of pheromones
ants
W ij  0  1
U 0.3 ,Relative
,Evaporation coefficient
importance of pheromones D 1 ,The relative importance of
E 7 ,Constant C 1 The proposed rotary-
heuristic factors
&
2
wing drone has a maximum flight speed of 60km/h, a range of
30km, a fixed-wing drone with a maximum flight speed of
120km/h, a minimum turning radius of 800m, and a range of
100km according to the formation method and safety
constraints of the flight path feasible solution, and the initial
feasible path is shown in Figure 4.
'
Fig2(b):Optimized three-point-connection path
Finally, smooth the corners in the path.
And Vertex,
respectively the angle of the turn at the, to the distance
between two points, Minimum turning radius for fixed-wing
drones the calculation is calculated in the form of.
L route
R min
tan
T i
2

R min
tan
T j
(6)
2
IF ,The path is suitable for fixed-wing drones to fly, at
which point the turning radius ;Otherwise, the path is not
suitable for fixed-wing drones, where the turning radius is
R
T j ·
§
T
d ij ¨ tan i  tan ¸
2
2 ¹
©
tan
T i
2
tan
T j
(7)
Fig4: Initial feasible path
2
When selecting a path with a safety of 1.0 for each
segment, based on the improved ant colony algorithm
proposed in this paper, the shortest path is generated as shown
IV. S TUDY A NALYSIS
L
t d
ij
,This path is not suitable for fixed-
in Figure 5(a) route
wing drones, and the choice of a rotary-wing drone to fly
under the base (7) gives a minimum turning radius
R 760m ,The optimized path length is 18km, as shown in
Figure 5(b).
Fig3: Threat point distribution map
(a) Shortest path
Using Matlab to implement the proposed algorithm of ant
colony, and compared it with the traditional ant colony
algorithm, it was compared to the prediction that a sudden
(b) Path optimization and smoothing
Fig5: Optimal path when safety value equalsto1.0
When you select a path that is not less than 0.6 safe for
128