Control method of UAV based on RRT∗ for target tracking in cluttered environment

Abstract

In this paper, RRT∗ algorithm is applied to the navigation of UAV for tracking a target in obstacle environment. Planning route generated by RRT∗ algorithm used for flight control of UAV. RRT∗ algorithm is extended to include a track mission considering differential constraints of Quadrotor and the cluttered environment. Paper presents the algorithm flow of RRT∗ and the dynamic models of UAV. Simulation results show that UAV combined with RRT∗ planner can achieve track task successfully in complex environments.