3-D online route planning for UAVs based on an improved PRM

Abstract

An improved PRM is proposed to plan the 3-D online route for UAVs. The improvement of milestones generation algorithm and the strategy of roadmap enhancement are proposed to improve the success rate and efficiency of optimal route search. The constraints of planning space are embedded into the local planner to reduce the scale of the roadmaps. The improved PRM is used to the 3-D online route planning based on the partial renewal strategy. The simulation results show that the 3-D online routes can be gotten accurately and efficiently from the proposed improved PRM.