说明：  基于蚁群算法的无人机航迹规划matlab算法 本算法的主题思想是基于胡中华博士的论文，但是在具体编程的过程中发现其博士论文中在制定启发因子的时候，存在一定的问题，没有分清远离威胁点、在威胁点威胁范围内的威胁概率计算情况，并对威胁概率的点计算转换成连续区间的威胁概率，即转换成定积分的形式进行编程 本算法只是初步算法， 总体来说是可以运行的，但是因为程序设计过程中没有考虑算法的复杂度，考虑的东西太多，反而增加了算法的复杂度，导致耗时比较多
(Ant Colony Algorithm Based UAV Track Planning Matlab Algorithm The main idea of this algorithm is based on Dr.Hu Zhonghua's thesis. However, in the process of specific programming, he found that in the development of the heuristic factors in doctoral dissertations, there are certain problems. There is no clear distinction between threat points and threat points. Calculate the probability of the threat, and convert the point probability of the threat probability into a continuous range of threat probability, that is, convert it into a form of definite integral for programming This algorithm is only a preliminary algorithm, but it can be run on the whole, but because the complexity of the algorithm is not considered in the process of program design, there are too many things to consider, which increases the complexity of the algorithm and leads to more time-consuming.)