华中科技大学学报（自然科学版）2011，Vol.39Issue(4)：45-48,4.
无人机快速航迹规划算法
Efficient path planning algorithm for UAV
摘要
Abstract
On the basis of rapidly-exploring random trees (RRT) algorithm, an efficient and robust approach was proposed to improve real time and robustness of path planning system for unmanned aerial vehicle (UAV), which consists of three parts, generation of sample point, search of the point on the tree nearest to sample point, and expansion of vertex.First, sample point selection was addressed by choosing the target point with certain probability to improve the route quality and planning speed.Then, the nearest point on the tree to the sample point was found.Finally, the expansion of vertex was performed by attaching the constraints of UAV into searching process, which can ensure the feasibility of the path.The procedure will keep going until the target is achieved.Simulation results demonstrate that the proposed path-planning scheme can obtain near-optimal path quickly and is robust for the variation of planning environment compared with other methods.关键词
航迹规划/无人机/快速扩展随机树/实时性/鲁棒性/路径规划Key words
route planning/ unmanned aerial vehicle (UAV)/ rapidly-exploring random tree real time/ robustness/ path planning分类
航空航天引用本文复制引用
刘新,周成平,丁明跃..无人机快速航迹规划算法[J].华中科技大学学报（自然科学版）,2011,39(4):45-48,4.基金项目
国家高技术研究发展计划资助项目(2007AA12Z166). （2007AA12Z166）
