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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 11

Dynamic path planning algorithm for UAV in complex urban environment

Xiao Hailin1a
Ma Renyu1b
Zhang Zhongshan2
Wu Zihao1b
Kong Xiangting1a
1. a. School of Computer Science, b. School of Artificial Intelligence, Hubei University, Wuhan 430062, China
2. School of Information & Electronics, Beijing Institute of Technology, Beijing 100081, China
DOI: 10.19734/j.issn.1001-3695.2025.04.0112

Abstract

To solve the problem that traditional ant colony algorithm exists low search efficiency and easy to fall into the local optimum for complex urban environment, this paper proposed a dynamic three-dimensional UAV path planning algorithm. By defining the cost functions for flight angle and flight height, the algorithm can further establish the objective function of UAV three-dimensional trajectory. By non-uniformly initializing the pheromone concentration and presenting a path optimization mechanism that adopts the rapidly-exploring random tree algorithm to improve the individual state transition rules, the proposed algorithm can avoid being trapped in the local optimum. Then, the algorithm designed a nonlinear dynamic adjusting pheromone volatile factor to enhance the search efficiency. Finally, it used a quasi-uniform B-spline to make the path more consistent with the UAV's flight trajectory. In order to verify the effectiveness and superiority of the proposed algorithm, this paper carried out the strategy effectiveness test and algorithm performance test, and presented a comparison of the experimental results with those of other intelligent algorithms under different environmental models. Numerical results show that, the average convergence accuracy of the proposed algorithm is the smallest among all algorithms, which indicates that the algorithm has stronger optimization ability and higher search efficiency. It can effectively avoid static and dynamic obstacles in complex environments, achieving the desired trajectory.

Foundation Support

广西重大专项资助项目(桂科AA24263034)
广西重点研发计划资助项目(桂科AB25069340、AB23026034)
国家自然科学基金资助项目(61872406)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.04.0112
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 11

Publish History

[2025-07-14] Accepted Paper

Cite This Article

肖海林, 马仁煜, 张中山, 等. 面向复杂城市环境的无人机动态航迹规划算法 [J]. 计算机应用研究, 2025, 42 (11). (2025-07-24). https://doi.org/10.19734/j.issn.1001-3695.2025.04.0112. (Xiao Hailin, Ma Renyu, Zhang Zhongshan, et al. Dynamic path planning algorithm for UAV in complex urban environment [J]. Application Research of Computers, 2025, 42 (11). (2025-07-24). https://doi.org/10.19734/j.issn.1001-3695.2025.04.0112. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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