舰船电子工程2019，Vol.39Issue(2)：52-56,61,6.DOI:10.3969/j.issn.1672-9730.2019.02.015
基于改进RRT算法的无人机实时航迹规划
UAV Trajectory Planning Based on an Improved RRT Algorithm
摘要
Abstract
To solve the problem of RRT algorithm in UAV trajectory planning,such as node growth is too random,the search step is fixed so that the growth tree near the threat area is limited and no consideration of UAV dynamics constraints. An improved RRT algorithm is proposed. By increasing the dynamic step length,the algorithm solves the problem of the limitation of growing tree when it is close to the threat area. The problem of too strong randomness of RRT algorithm is solved by increasing the adaptive target gravity when the growth of nodes is guided to the target direction. The dynamic constraints of UAV are taken into account when se?lecting nodes,so that the planned trajectory can meet the actual performance requirements of UAV.The simulation results show that the algorithm can avoid the threat area quickly and effectively,and plan a better trajectory to meet the demand of UAV real-time tra?jectory planning.关键词
无人机/快速扩展随机树/实时性/航迹规划Key words
unmanned aerial vehicle(UAV)/rapidly-exploring random tree/real-time/trajectory planning分类
航空航天引用本文复制引用
范伟伦,李薇,冯杭..基于改进RRT算法的无人机实时航迹规划[J].舰船电子工程,2019,39(2):52-56,61,6.
