计算机工程与应用2018，Vol.54Issue(8)：119-122,4.DOI:10.3778/j.issn.1002-8331.1611-0361
改进RRT算法陷阱空间下的无人机航迹规划
UAV path planning based on improved RRT algorithm in trap space
摘要
Abstract
For the problem that most of algorithms of path planning have low success rate and the time is long in trap space,an improved RRT algorithm is proposed.By combining the human and RRT algorithm,the virtual target point is set up through human,which guides the path searching to go out of trap space;the node expansion is optimized,which ensures the path searching is in the feasible region;the fast convergence strategy is designed,and the redundant nodes are deleted. Simulation verifies that the proposed method has a good effect in trap space path planning,which can quickly plan feasi-ble path.关键词
无人机/改进快速扩展随机树(RRT)算法/陷阱空间/航迹规划Key words
Unmanned Aerial Vehicle(UAV)/improved Rapidly Random-exploring Trees(RRT)algorithm/trap space/path planning分类
信息技术与安全科学引用本文复制引用
刘华伟,张帅,赵搏欣,赵晓林..改进RRT算法陷阱空间下的无人机航迹规划[J].计算机工程与应用,2018,54(8):119-122,4.基金项目
国家自然科学基金(No.61503405) （No.61503405）
航空科学基金(No.20145596024). （No.20145596024）
