An Improved Bi-RRT* Trajectory Planning Algorithm for UAVs
Bin Huang, Jiawei Yan, Chunyan Chen, Qilian He, Yaya Zhu · 2023
In order to enable the UAV(Unmanned Aerial Vehicle) to plan an economical, feasible, and precise obstacle avoidance trajectory for the current environment during the cruise, a bidirectional expansion approach is adopted to increase iteration speed on the basis of the RRT* algorithm. At the same time, flight dynamics models are considered in the planning process, and a trajectory optimization algorithm is designed to optimized and smoothed the rough trajectory obtained initially. Finally, simulation was conducted to compare the new algorithm with traditional RRT* algorithm, and the results showed that the new algorithm has significant advantages in trajectory quality and stability. At the same time, it was verified that the new algorithm can meet the needs of online planning.