信息与控制2025，Vol.54Issue(6)：812-826,15.DOI:10.13976/j.cnki.xk.2024.3791
曲折障碍场景下无人机的动态路径规划
Dynamic Path Planning of UAV in Zigzag Obstacle Scenarios
摘要
Abstract
To accelerate the optimization of long zigzag paths for unmanned aerial vehicles(UAVs)in complex obstacle environments,we propose a DynamicEllipse-RRT*(DE-RRT*)path planning algorithm,which incorporates dynamic elliptical domain sampling.First,to mitigate local irregular turns caused by high randomness in sampling during path planning,we employ a sliding window method to adjust and segment the path,clarifying the main direction.Then,we introduce random breakpoints and an adaptive iterative threshold strategy to construct small elliptical domains for tar-geted sub-segment optimization.We dynamically adjust the number of iterations based on sub-seg-ment length to conserve computational resources.Meanwhile,we utilize elliptical focal points as heuristic information to guide probabilistic direct-push growth points,accelerating the search for more optimal paths.Additionally,redundant path nodes are eliminated,and path corners are smoothed,producing paths more suited for UAV applications.Finally,we evaluate the proposed method in complex 2D environments with multiple turns and dense obstacles.Comparative results demonstrate that the DE-RRT*algorithm finds better paths in the same or shorter time under the same environmental and parameter configurations than existing methods.关键词
路径规划/RRT*(Rapidly-exploring Ran-dom Tree)/路径切分/动态椭圆采样/生长点直推Key words
path planning/RRT*/path segmentation/dynamic elliptical-sampling/growth point direct pushing分类
信息技术与安全科学引用本文复制引用
赵紫彤,秦宁宁,孙虎,张欣,王艳..曲折障碍场景下无人机的动态路径规划[J].信息与控制,2025,54(6):812-826,15.基金项目
国家重点研发计划(2023CSJGG1700) （2023CSJGG1700）
教育部产学研合作协同育人基金项目(231006093262207) （231006093262207）
