Research on Flight Path Planning Algorithms Based on Four-rotor
Kai Wang · Jisuanji fangzhen · 2014
As the actual aircraft environment of aircraft is complex,and the flight is restricted by many factors,so building properly planning environment and choosing appropriately planning algorithms is the key issue. In this paper,a small four-rotor aircraft was studied for indoor flight environment,and its path planning was studied. A 3-D model was designed for indoor flight environments,and a simulation platform was designed. Taking into account the planning's requirements of the computing speed of the algorithm,RRT was used to plan the path,and aiming at the shortage,the algorithm was improved. Through the actual operation of the platform and simulation experiments with Matlab,the simulation results were compared to prove that the improved RRT algorithm is really effective and can improve the operating efficiency greatly.