Improved path planning algorithm of an informed RRT algorithm in 3D space

Abstract

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.