电子学报2017，Vol.45Issue(7)：1764-1769,6.DOI:10.3969/j.issn.0372-2112.2017.07.029
基于改进RRT算法的无人机航迹规划
An Improved RRT Algorithm for UAV Path Planning
摘要
Abstract
To solve the problem that the basic RRT algorithm for UAV path planning can only quickly get feasible path,but cannot obtain near optimal path,an improved RRT algorithm is proposed.The algorithm takes into account the dynamic constraints of UAV,by introducing the path length constraint and improving the selection strategy for root node that is nearest to the random sample point,the search tree will explore along the direction of the near optimal path.Flyable path is generated by using B-spline curves for path smoothing.Simulation results demonstrate that this proposed method can complete UAV path planning mission quickly and effectively.关键词
无人机/快速扩展随机树/实时性/航迹距离约束/航迹平滑Key words
unmanned aerial vehicle(UAV)/rapidly-exploring random tree/real-time/path length constraint/path smoothing分类
航空航天引用本文复制引用
尹高扬,周绍磊,吴青坡..基于改进RRT算法的无人机航迹规划[J].电子学报,2017,45(7):1764-1769,6.基金项目
航空科学基金(No.20135184007) （No.20135184007）
