An Improved B-RRT* Method for UAV Path Planning
Proceedings of 2018 the 8th International Workshop on Computer Science and Engineering · 2018
With the fast development of science and technology, unmanned aerial vehicle (UAV) becomes more popular.As the use range of UAV expanding from the military to the civilian field, its path planning problem attracts lots of attentions.The conventional B-RRT* algorithm can not obtain the direct route for UAV flight.In this paper, an improved B-RRT* algorithm is proposed.The proposed algorithm is combined the dynamics constraints of the UAV with the node expansion of the extended tree.It firstly adopt to the backward fan-shaped area sampling method to improve the convergence speed from the selection strategy of random points.Then an adaptive step size is used to overcome the shortcomings of the limitations of growth at the adjacent of obstacles.Simulation results show that the proposed algorithm has a shorter path planning length with stronger stability, compared with other competing path planning method.