UAV path planning based on improved rapidly-exploring random tree
Qinpeng Sun, Meng Li, Wang Tianhe, Chen-Peng Zhao · 2018
The RRT algorithm can be used for path planning of Unmanned Aerial Vehicle (UAV). However, the efficiency and success rate of the basic RRT algorithm for path planning need to be improved. In view of this problem, this paper proposed an improved RRT algorithm which based on the dynamic pgvalue and the dynamic step length, and bidirectional RRT (Bi-RRT) is combined. The effectiveness and advance of the improved RRT algorithm are verified by simulation experiment.