Improved path planning algorithm of an informed RRT algorithm in 3D space
Hui Tian, S. Huang, P. F. Wang, Caihong Xiang, Jiawei Cao, Rodney Teo · 2023
The main purpose of drone flight is to find an optimal path without colliding with obstacles. The key point is to design a search algorithm. Path planning for searching a 2-dimensional (2D) map has been studied extensively and reached a mature stage. For a higher-dimensional configuration space, it is quite challenging. In this paper, a sampling based path planning method is proposed. It uses the rapidly-exploring random trees (RRT) concept. An improved guidance is proposed for reducing the search space in the present algorithm in a 3D clutter environment. Simulation is given to show the effectiveness of the proposed method.