Real-time 3D Route Planning based on Modified Rapidly Exploring Random-tree Algorithm

Abstract

In this paper, the real-time Unmanned aerial vehicle(UAV) three-dimensional route planning problem is firstly modeled, and the improved fast-expanded random tree algorithm (M-RRT) is used to optimize the route. Simulation results show that M-RRT has good real-time and complete performancein solving real-time three-dimensional route planning problem, and can quickly find routes that can avoid all threat areas and meet the error range, Meanwhile, due to the greedy strategy and random sampling of the algorithm, M-RRT algorithm has strong stability.