Route planning for UAV with practicable overload constrained based on ant algorithm

During the route planning for UAV (Unmanned Aerial Vehicle) based on ant algorithm, with the problem of route constrained by practicable overload a solution is proposed. According to the method, within the acceptable error arc replaces the folding line on the corner. The angle between the folding lines on the corner is used for selecting another feasible way node. Base on the flight dynamics the math model about the angle and practicable overload of UAV is established, and algorithm simulation is carried on, using the Matlab to the model of UAV with practicable overload route planning. The result shows that the math model of considering practicable overload is effective and feasible, and it gets a relatively smooth route with lowest price and within practicable overload.