UAV 3D route planning algorithm based on improved RRT

Abstract

An improved algorithm based on fast extended random tree (RRT) was proposed to solve the 3d route planning problem of uav in complex environment. Firstly, the planning space modeling is carried out according to the threat factors of flight route. Secondly, in view of the large randomness of THE RRT algorithm, the heuristic distance function is introduced as the basis for the selection of nodes to be expanded, so as to increase the probability of nodes near the target being selected as nodes to be expanded, and improve the way of generating new nodes in the random tree to accelerate the convergence speed of the algorithm. Then, UAV dynamics constraints were incorporated into the new node to meet the flight path requirements. Finally, b-spline curve was used to optimize the smoothness of the initial route curvature discontinuity problem. Simulation results show that the improved algorithm has certain advantages in planning speed and route length, and can effectively solve the problem of UAV 3D route planning.