中文摘要：

针对无人机在二维平面自动飞行中转弯角度过大、路径规划困难的问题，研究了蚁群算法在复杂环境下航路规划中的应用，利用链接图简洁的特点建立空间模型，对无人机的飞行环境和航迹代价进行了描述，并结合三次样条插值函数与蚁群算法，提出了改进蚁群算法，对无人机飞行路径进行优化，并给出算法软件流程；利用MATLAB进行了仿真实验，得出了最优的航路，算法具有较好的稳定性和鲁棒性，对轨迹中不可飞的尖角进行了平滑处理，使得航路为曲线轨迹，满足无人机工作的性能要求，减少无人机在飞行中的代价损耗，验证了该优化算法在无人机航路规划中的可行性。

英文摘要：

Focus on issues as the sharp of turning angle and difficulty of path planning in Automatic UAV flight in the two-dimensional plane, the paper studies the ant colony algorithm in a complex environment of UAV route planning, and establishes a space model to describe the flight environment of UAV in the use of the MAKLINK graph for the concise characteristics. The cost of the flight environment and track the UAV has been described in conjunction with cubic spline interpolation function and ant colony algorithm to optimize the UAV flight path, and algorithm software flow is shown. The optimal route which has better stability and robustness by using MATLAB simulation ex- periments is got, and the track route is relatively smooth, turning angle of each waypoint can meet the performance requirements of UAV, the cost of the UAV fighting is reduced corresponding, it is verified that the optimization algorithm of UAV route planning is feasible.