Abstract: For the low-altitude penetration of cruise missile, there is a large number of steering points and a larger steering angle in missile path planning based on ant colony algorithm. In order to solve this problem, a three-dimensional path planning method based on ant colony algorithm and Bezier curve optimization is proposed. The planning path node generated by ant colony algorithm was used as the control point to generate the flight path of Bezier curve, and then the curve was changed to be broken lines path. In order to avoid the unnavigable section, using the breadth first search algorithm to process those paths until getting the feasible planning path. Simulation results demonstrate that the proposed method takes into account both random search and global optimization, avoids the large angle steering, reduces the flight distance and the number of steering points, and ensures the continuous stability in the process of cruise missile flight.

Key words: Cruise missile, Path planning, Breadth First Search, Ant Colony Optimization, Bezier Curve