Open AccessMulti-target UAV path planning based on improved RRT algorithm
Author(s) -
Xueping Ren,
Li Tan,
Jiaqi Shi,
Xiaojuan Lian
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1786/1/012038
Subject(s) - motion planning , random tree , path (computing) , heuristic , computer science , mathematical optimization , tree (set theory) , algorithm , premise , selection (genetic algorithm) , any angle path planning , mathematics , artificial intelligence , robot , mathematical analysis , linguistics , philosophy , programming language
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.