UAV path planning in dynamic environment

A new method is given in this paper, which focuses on the problem of path planning in dynamic environment. The time axis, which expands the C space to the CT space, is introduced to express the moving obstacles. Also, this paper proposed an improved ant colony algorithm. By introducing the heading information as heuristic information, the ant can search the map more efficiently at the beginning of the algorithm. The simulation results show that the CT space can express the moving obstacles well. The improved ant colony algorithm is more efficient and it can converge to the best solution more quickly.