An Improved RRT*-Based Real-Time Path Planning Algorithm for UAV
Di Xu, Hongyan Qian, Shuheng Zhang · 2021
This work studies the real-time path planning for UAV in the dynamic environment. We propose a real-time path planning algorithm to get an optimized path suitable for UAV. The improved algorithm is based on the multi-optimized RRT*. We redefine the cost function by considering both Euclidean distance and the turning angle. Then sampling method is modified for reducing the sampling space and fastening the convergence. Due to the branches connected to the executed waypoints no longer affect the next path, we introduce the node deletion method to reduce the memory consumption. Experimental results show that the path generated by the MO-RRT*Replan algorithm has better quality. Also, our algorithm ensures real-time capability from these experiments.