EB-RRT* based Navigation Algorithm for UAV
Hongliang Dai, Qinglin Liu · Proceedings of the 2017 3rd International Forum on Energy, Environment Science and Materials (IFEESM 2017) · 2018
With the wider application of unmanned aerial vehicle (UAV), automatic navigation capacity plays an important role.Navigation for UAV is the algorithm that automatically find out the obstacle-free, smoothing path from start position to target position.Current most navigation algorithms for UAV still have shortcomings including low convergence speed, long traversal time and smoothing challenges.EB-RRT* algorithm is proposed in this paper who has three outstanding strategies for UAV.Self-avoidance is adopted to improve convergence speed and less memory cost.Grid partitioning is applied to shorten the time of finding the nearby vertices.Smoothing turning point is introduced to improve the convergence rate of the algorithm and the smoothness of the final path.Finally, abundant simulations are carried out to testify the high performances of EB-RRT* compared with MB-RRT* and BRRT*.