Path Planning Algorithm for UAV Based on Smooth Rapidly Exploring Random Tree
Jinming Hu, Kai Xie · 2022
To overcome the difficulties of poor real-time performance in UAV path planning, a smooth Rapidly Exploring Random Tree(RRT) algorithm based on a priori sampling and cost function is proposed in this paper. Thus the convergence of the path planning algorithm can be accelerated. The a priori information such as UAV dynamics constraints is used in the method to optimize the search space of expansion points, so the problem that original Rapidly Exploring Random Tree can hardly make full use of dynamics constraints is solved. At last, the feasibility of the algorithm is verified by the simulation. Moreover, the operation efficiency, convergence performance and planning capability are all improved.