Three dimensions formation flight path planning under radar threatening environment

To solve the problem of three-dimensional path planning of unmanned aerial vehicles (UAVs) formation flight under radar threatening environment, an intelligent method based on ant colony optimization (ACO) algorithm is proposed. Firstly, a simulated map is generated and interpolated. Subsequently, a three-dimensional topographic environment with radar threats is established. And then the terrain is smoothed according to the safety distance constraint to obtain the single UAV maneuver safety surface. Secondly, the path of a specified virtual leader is planned based on ACO algorithm on the level of the safety surface and modified under formation constraint. Finally, the formation path is derived from the modified virtual leader´s path. And simulations are carried out to verify the validity of the method.