Off road path planning based on hybrid artificial potential field and ant colony algorithm

Aiming at the problem of unmanned vehicle path planning in off-road environment, the terrain three-dimensional grid model is constructed according to the elevation information, and a new algorithm of hybrid artificial potential field and ant colony algorithm is proposed for the purpose of minimum energy consumption. The algorithm constructs the artificial potential field through the slope information, improves the pheromone initialization strategy, and takes the relative path length as the objective function. The simulation results show that the path fluctuation obtained by the algorithm in off-road terrain is small, the energy consumption is relatively low, and the practicability is strong. Compared with the traditional ant colony algorithm, the convergence speed is faster and the result is better.