Dynamic Path Planning of UAV Based on KF-RRT Algorithm

Abstract

For the dynamic path planning of UAV, an algorithm based on Kalman Filter and improved Rapid-exploration Random Tree (KF-RRT) is proposed. Firstly, on the basis of the RRT algorithm, the weight coefficient of the target area trend is added, which reduces the time of UAV path planning. Secondly, the prediction function of Kalman Filter is added to predict the motion trajectory of dynamic obstacles in advance. Then, B-spline curve is used for smoothing to plan the feasible path of UAV. Finally, the KF-RRT algorithm in this paper is compared with other RRT algorithms by simulation, which shows that the proposed algorithm is more suitable for the dynamic path planning of UAV.