The Research of RRT Route Planning Algorithm for UAV that Based on Kinematic Equation

To solve the problem that the traditional rapidly-exploring random tree(RRT) algorithm can not be directly applied to the path planning of Unmanned Aerial Vehicle(UAV), add the UAV turning angle constraint to the planning algorithm in the process of random point were produced, it make the path meet the capable of flying; For the problem that we could not determine the random point about the rapidly-exploring random tree(RRT) algorithm, this paper provide a improvement algorithm which combined aircraft kinematics equation, and use this algorithm to the three dimensional(3D) path planning . The simulation result proved that this algorithm could avoid the threat effectively, and the accuracy of planning is more precise, so the path planned by the algorithm proposed in this paper is more accorded the requirements of actual planning path.