关键词: 植保无人机, 改进蚁群算法, 丘陵山地, 三维航迹规划, 避障

Abstract: In view of the fact that many current UAV track planning based on two‑dimensional maps cannot meet the plant protection needs of hilly and mountainous areas, in this article, the classical ant colony algorithm was improved and smoothed. An innovative three‑dimensional trajectory planning method was proposed. The initial pheromone was optimized to speed up the initial convergence of the ant colony; the heuristic function was improved to ensure the rationality of the trajectory, the elite ant colony update strategy was introduced to enhance the exploration ability of subsequent ant colonies, the pheromone update mechanism was dynamically adjusted, ensuring strong explorability in the early stage of the algorithm, and the algorithm's convergence speed could be accelerated. Simulation experiments showed that the improved ant colony algorithm had the advantages of shorter paths, lower energy consumption, and smoother trajectories. It also improved that ant colony algorithm demonstrated good environmental adaptability. Compared with the classical ant colony algorithm and A* algorithm, the improved ant colony algorithm shortened the track length by 40.86% and 2.83% respectively, the total energy consumption of the UAV was reduced by 45.04% and 12.13% respectively, and the algorithm running time was saved by 31.32% and 8.86%, respectively. In a three‑dimensional complex environment with obstacles, the obstacle avoidance planning ability of the improved ant colony algorithm had been verified.

Key words: UAVs for plant protection, improved ant colony algorithm, hilly and mountainous areas, three?dimensional trajectory planning, obstacle avoidance