Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm
Zekui Qin, Rui Wang, Dong Xiwang, Qingdong Li, Fang Dongyang, Ren Zhang · 2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) · 2018
This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.