Obstacle Avoidance Path Planning for UAV Based on Improved RRT Algorithm

Abstract

Obstacle avoidance path planning capability, as one of the key capabilities of UAV (Unmanned Aerial Vehicle) to achieve safe autonomous flight, has always been a hot research topic in UAV research filed. As a commonly used obstacle avoidance path planning algorithm, RRT (Rapid-exploration Random Tree) algorithm can carry out obstacle avoidance path planning in real time and online. In addition, it can obtain the asymptotically optimal obstacle avoidance path on the premise of ensuring the completeness of probability. However, it has some problems, such as high randomness, slow convergence speed, long transit time, and curved flight trajectory, so that it cannot meet the flight conditions of the actual UAV. To solve these problems, the paper proposes an improved RRT algorithm. In the process of extending the random tree, ACO (ant colony optimization) is introduced to make the planning path asymptotically optimal. The optimized algorithm can set pheromones on the path obtained by RRT and select the next extension point according to the pheromone concentration. And then through a certain number of iterations, it converges to an ideal path scheme. In addition, this paper also uses MATLAB to verify the effectiveness and superiority of the algorithm: Although RRT is easy to fall into local optimization, since the optimization method in this paper can almost certainly converge to the optimal solution, when it is necessary to preplan the path before UAV takeoff, it can be used.