Author:
Ren Xueping,Tan Li,Jiaqi Shi,Lian Xiaofeng
Abstract
Abstract
When the Rapidly-exploring Random Tree (RRT) algorithm in the global path planning algorithm is used for autonomous online path planning of UAVs, there is a problem that the optimal path cannot be obtained. An improved RRT algorithm is proposed, including The dynamic constraints, heuristic search strategy, dynamic step fusion strategy, and the improvement of the selection method of changing new nodes under specific conditions. The simulation results show that the improved RRT algorithm can meet the premise of UAV dynamic constraints. Next, the optimal path planning for multiple goals is realized, especially in reducing the nodes in the random tree.
Subject
General Physics and Astronomy
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