An Improved Path Planning Algorithm for Unmanned Aerial Vehicle Based on RRT-Connect
Zhang Denggui, Yong Xu, Xingting Yao · 2018
For the problem of path planning in complex static environment, in order to reduce the cost of the UAV flight, this paper puts forward an improved algorithm combined with artificial potential field method and RRT-Connect algorithm. Artificial potential field method is oriented, and the RRT-Connect algorithm has the randomness and efficient planning efficiency. Therefore, the improved algorithm makes the planned path closer to the optimal path than the path of the single algorithm. The simulation results show that the proposed algorithm is shorter than the others, and the effectiveness of the proposed algorithm is verified.